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计算机工程 ›› 2008, Vol. 34 ›› Issue (9): 211-212,. doi: 10.3969/j.issn.1000-3428.2008.09.076

• 人工智能及识别技术 • 上一篇    下一篇

基于立体视觉的月球探测器路径规划算法

李琳辉,王荣本,郭 烈,金立生,陈百超   

  1. (吉林大学交通学院,长春 130025)
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2008-05-05 发布日期:2008-05-05

Path Planning Algorithm for Lunar Rover Based on Stereo Vision

LI Lin-hui, WANG Rong-ben, GUO Lie, JIN Li-sheng, CHEN Bai-chao   

  1. (Transportation College, Jilin University, Changchun 130025)
  • Received:1900-01-01 Revised:1900-01-01 Online:2008-05-05 Published:2008-05-05

摘要: 以实现月球探测器的避障路径规划为目标,采用立体视觉技术感知车前环境,设计一套基于特征匹配的车前障碍物检测算法。构造极坐标直方图描述环境空间,提出一种基于视觉感知的直方图Bug路径规划算法。通过朝目标移动和沿障碍物边界滑动2种行为的切换来保证算法全局收敛。实景重构与仿真实验验证了算法的有效性。

关键词: 月球探测器, 立体视觉, 路径规划, 直方图Bug

Abstract: To realize obstacle avoidance path planning for lunar rover, stereo vision technology is applied to precept front environments, and a feature-based obstacle detection method is designed. Histogram-Bug algorithm is presented to realize obstacle avoidance path planning. The world model is described using a polar coordinates histogram. Global convergence is ensured by motion-to-goal behavior and boundary following behavior working together. 3-D reconstruction technologies and simulations confirm the effectiveness of the method.

Key words: lunar rover, stereo vision, path planning, Histogram-Bug

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