Samovozeč mobilni robot za sledenje poti in izogibanje oviram s pomočjo kamere : magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo
Pangerc, Jernej
Samovozeč robot mora biti sposoben, na podlagi slike, prevoziti progo na kateri so lahko tudi ovire. Namen naloge je razviti algoritem, ki lahko iz črno-bele (sivinske) slike določi pot sledenja in ...ovire. Kot edini senzor se uporablja fiksno nameščeno kamero resolucije 160x120 slikovnih točk. Algoritem najprej pretvori sivinsko sliko v bitno sliko, nato na bitni sliki določi položaj poti (sledilna črta) čez celo sliko in položaj ovire. Robot se mora ogniti oviri, vendar še vedno slediti poti. Rezultati kažejo, da se z raznimi procesi filtracije da sliko obdelati, da dobimo okolico bele barve, pot in ovire pa črne barve. Algoritem uspešno prepozna pot in ovire, uspešno določi tudi smer izmikanja oviri.
Type of material - master's thesis
; adult, serious
Publication and manufacture - Ljubljana : [J. Pangerc], 2016
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