基于目标模型的遗传算法在走廊辨识中的应用

详细信息

Application of Genetic Algorithm Based on Objective Model to Corridor Recognition

1.
School of Mechanical and Instrumental Engineering, Xi'an University of Technology, Xi'an 710048, China
2.
Department of Intelligent Engineering, Fukui University, Fukui 910-8507, Japan

摘要: 为了保证移动机器人能够沿着走廊自动行走并具有一定的智能水平，工作环境的辨识就显得至关重要．同时考虑到控制的实时性，提出了一种基于目标模型的模型匹配的走廊辨识方法．利用遗传算法对未处理的灰度图像中的走廊影像进行匹配，从而使移动机器人自动地适应复杂环境，实现了模型对灯光条件变化以及包括干扰物等环境噪声的鲁棒性，并经实际走廊图像试验验证了辨识效果．
- 遗传算法 /
- 走廊辨识 /
- 模型匹配
Abstract: It's very important to recognize the working environment for a mobile robot when it travels in the corridor automatically with its possible intelligence.Taking real-time control of mobile robot into consideration,a corridor recognition method with model matching based on objective model is presented.The image of the corridor in unpro-cessed gray image is matched using genetic algorithm by which the mobile robot can automatically adapt to the complex environ-ment and the proposed model with high robustness against noise such as lighting condition variations and obstacles is realized.The recognition effect is verified with real corridor images.
- genetic algorithm /
- corridor recognition /
- model matching

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