摘要
为了解决机器人路径选择以及路径优化问题,本文提出一种基于图像二值化模糊运算的路径规划优化算法.首先对摄像头采集到的图像进行二值化处理,对二值图像用图像算法提取周边边界以及障碍,规划机器人所要运动的中心路线,再经过模糊算法进行路线的平缓优化,实现输出最优行驶路径.经过仿真实验表明,本文所提出的融合算法能够输出有效的平缓中心线,同时对路径进行合理的优化,使机器人得到最佳的路径,使规划的运动更加的平稳更加流畅,解决了复杂环境下路径规划问题.
In order to solve the problem of path selection and path optimization of robots,a path planning optimization algorithm based on image binarization fuzzy operation is proposed.Firstly,we need to binarize the image acquired by the camera and then pass the image algorithm.Extracting the surrounding boundary and obstacles,planning the central route of the robot to move,and smoothing the route through the fuzzy algorithm to achieve the optimal driving path.The simulation experiment shows that the fusion algorithm proposed in this paper can effectively output the gentle center line.And the reasonable optimization of the path,so that the robot gets the best path planning motion more smooth and smooth,in line with the path planning in the complex environment,to achieve the effect of this algorithm.
作者
吴海晨
田中俊
WU Hai-chen;TIAN Zhong-jun(College of Photoelectric Engineering,Zaozhuang University,Zaozhuang 277160,China)
出处
《枣庄学院学报》
2020年第5期26-30,共5页
Journal of Zaozhuang University
基金
枣庄学院SRT项目(项目编号:2018063).
