Guidance using path following iswidely applied in the field of autonomousmobile robots. Comparedwiththe navigation system without vision
visual navigation has obvious advantages as rich information
low cost
quietness
innocuity
etc. This paper describes a navigation system which uses the visual information provided by guide lines and color signs. In our approach
the visual navigation is composed of three main modules: image-preprocessing
path-recognition and path-tracking. First
image-pre-processing module formulates color models of all kinds of objects
and establishes each object’s support through adaptive subsampling-based binarization and mathematical morphology. Second
path-recognition module detects the guide lines through an improved Hough transform algorithm
and the detected results including guide lines and color signs integrate the path information. Finally
calling different functions according to the movement of straight-going orturning
path-trackingmodule provides required input parameters tomotor controller and steering controller. The experimental results demonstrate the effectiveness and the robustness of our approach.