基于视觉处理和蚁群算法的Tripod机器人最优路径规划-信息与通信工程专业论文.docxVIP

TheOptimalPathPlanningofTripodRobotBasedonVisualProcessingandAntColonyAlgorithmAbstractInindustrialproduction,objectsoftenneedtobesorted.Theactionismonotonousandrepetitive.Operatorsareeasilyexhaustedandinefficient.However,visionrobotcanfinishthejobeasily,whoseaccuracyandrapidityisincomparable.Inthispaper,avisualsystemwasdesignedforTripodRobottomakeithavevisualprocessingfunction.Inthispaper,theprocessofsortingoperationwassimplifiedastheprecisepickandplaceofgeometriesontheTripodplatform.Inordertoimprovetheaccuracyofsorting,andincreasethespeedofthisprocess,visualprocessingandpathplanningweredesigned.Imageprocessingmoduleachievedimageacquisitionandpreprocessing,locationofcenterpointsandangles,recognitionofshapes,colorandsymbols.Theantcolonyalgorithmwasusedtoobtainoptimalpath,whichrealizedtheshortestmovingpathandplacedgeometrieswithsamecolortogether.Imageacquisitionandpreprocessing.Asideviewofplatformwasobtainedwithacamerafixedonthecontrolcabinet.Theperspectivetransformationwasusedtocorrectthedistortionimage.Grayscalewasappliedtoremovethecolorinformation.Bilateralfilteringwasutilizedtoreducethenoise.AnimproveddualthresholdOtsuwasdesignedforbinaryprocessing.AnmodifiedCannyoperatorwasadoptedtoextractsatisfiededgecontours.Locationandrecognitionoftheplatformandgeometries.Atwo-steplocationmethodwascreatedtogaintheprecisepositionsofgeometriesonouterringandinnerholes.Houghtransformsofanglesbetweenedgelinesandcoordinateaxiswereadoptedtoobtainvaluesofrotationangles.Houghtransformsofcirclesandlineswithgeometrypropertieswereusedtodetectshapes.AfterextractingRGBvaluesofcenterpointsoneachgeometry,colorclassificationwasrealizedinHLScolorsystem.Analgorithmofsymbolrecognitionwascreatedtodistinguishsymbolsbymeansofjudgingclassificationandinnerboundarynumbersofconnecteddomains.Optimalpathmodulebasedonantcolonyalgorithm.Theproblemofoptimalpathplanningwassummarizedasatravelingsalesmanproblemwithconstraints.Slowspeedofconvergenceandfallingintolocaloptimumeasilyweretwomajordefectsoftraditiona