关键词: 未知环境, 单目视觉, 障碍物测距, 地图创建, 路径规划

Abstract: Aiming to the obstacle avoidance and local path planning in unknown indoor environments, a monocular vision-based mobile robot path planning algorithm is proposed. The contour points of the obstacles and the ground are obtained by the algorithm adaptive threshold segmented to the environment images. Analyzing and comparing the present several monocular measuring methods, a spatial geometric constrains with monocular visual measuring calculation method is improved. the mapping between the image coordinate system and the robot coordinate system is established according to the geometric relationship of monocular measuring method, and a certain scale of the local map is built. The improved artificial potential field algorithm is used for robot to plan a path in a local map. The unreachable target point problem of the traditional algorithm has been solved by the improved artificial potential field algorithm. Through MATLAB simulation experiments, the result shows that the method can plan the effective and reasonable path.