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History of the Incas by Pedro Sarmiento de Gamboa
Linear Algebra: Theorems and Applications
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室外移动机器人视觉导航关键技术研究
Posted on 2010-04-28
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博士学位论文 博士生姓名:段华 学科、专业:机械电子工程 研究方向:机电控制与自动化 指导教师:赵东标教授 南京航空航天大学 研究生院机电学院 二〇〇六年七月 ABSTRACT.....III 第一章绪论........................1 1.1概述......1 1.2室外移动机器人技术研究现状及其关键技术........2 1.2.1室外移动机器人概况.................2 1.2.2国外室外移动机器人研究现状.........................2 1.2.3国内室外移动机器人研究现状.........................7 1.2.4移动机器人研究中的关键技术.......................10 1.3道路理解算法研究现状...12 1.3.1道路检测算法研究现状...........12 1.3.2立体匹配算法研究现状...........13 1.4避障路径规划算法研究现状..........15 1.5本课题的研究意义..........................17 1.6本文的主要创新工作......................17 1.7本文的主要内容......19 第二章道路检测算法研究.....................21 2.1概述.................21 2.2基于归一化RGB值的道路检测算法......................23 2.2.1预备知识...........23 2.2.2算法的基本思想.......................26 2.2.3道路区域的检测.......................26 2.2.4可疑障碍物区域的检测...........30 2.2.5实验结果及分析.......................31 2.3基于彩色特征及图像分块处理的道路检测算法..32 2.3.1预备知识...........32 2.3.2算法基本思想...........................33 2.3.3道路图像的分块化处理及分块分类...............34 2.3.4道路区域的检测.......................34 2.3.5实验结果及分析.......................37 2.4本章小结...........40 第三章障碍物检测中的立体匹配算法研究.................41 3.1概述.....................41 3.2预备知识....................44 3.2.1针孔摄像机模型.......................44 3.2.2摄像机标定...........46 3.2.3外极线几何.......48 3.2.4立体图像对的校正...................49 3.2.5平面重投影变换原理...............51 3.3区域法立体匹配中的关键因素......53 3.3.1度量因子的选择.......................53 3.3.2相关窗口尺寸的选择...............56 3.4区域法立体匹配的改进..................59 3.4.1待匹配图像区域的减少...........59 3.4.2消除相关窗口尺寸的影响.......59 3.4.3视差搜索范围的缩小...............60 3.4.4单向匹配代替双向匹配...........61 3.5本章小结........64 第四章动态环境下的避障路径规划研究.....................65 4.1概述..............65 4.2常用的避障路径规划方法..............66 4.2.1人工势场法.......66 4.2.2确定栅格法.......67 4.2.3模糊逻辑算法...........................67 4.2.4遗传算法...........68 4.2.5神经网络法.......69 4.3基于改进人工势场法的避障路径规划算法..........69 4.3.1传统人工势场法在动态环境中的局限性.......70 4.3.2传统人工势场法的改进...........71 4.3.3计算机仿真结果及分析...........73 4.4基于障碍物包围盒及相对速度的避障路径规划算法..................74 4.4.1避障参数获取...........................75 4.4.2动态避障算法...........................76 4.4.3动态避障策略...........................79 4.4.4计算机仿真结果及分析...........81 4.5基于碰撞危险度及模糊逻辑的避障路径规划算法......................83 4.5.1动态模型的确立.......................83 4.5.2单个障碍物的避障决策...........85 4.5.3模糊控制器的设计...................86 4.5.4计算机仿真结果及分析...........89 4.6本章小结.....91 第五章总结与展望..........92 5.1总结........................92 5.2展望.......93 参考文献...............94 致谢......................102 在学期间发表的学术论文以及科研成果.......................103
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