摘要： 根据自动运输的需求，以FPGA+ARM为核心，设计一种基于视觉导航的自主式轮式机器人，使用FPGA控制图像的实时采集、存储和显示，用ARM实现路径识别、通信并控制执行机构和传感器。路径识别的基本思想是采样二值化并去噪，再检测出场景中的路径，由路径跟踪模块进行导航计算。实验结果表明，该机器人的控制准确可靠，能正确地跟踪预先设置的引导轨线。

关键词: 现场可编程门阵列, ARM处理器, 视觉导航, 路径识别

Abstract: According to the needs of automatic transport, a visual navigation wheeled-mobile robot based on FPGA+ARM is designed. Images are acquired, saved and displayed by FPGA. The path recognition, communication, executive units and sensors are controlled by ARM. To recognize path, binary image is built, the guide line is detected and the navigational parameters are carried out by path tracking module. Experimental results show the reliability of the robot which can track the expected navigational path exactly.

Key words: Field Programmable Gate Array(FPGA), ARM processor, visual navigation, path recognition

中图分类号: 

• TP242