To study the method of identification of robot navigation path in cotton field The cotton field image collected in the natural environment is the research background, in L ab color space Process and identify the cotton plant from the soil background. By the maximum variance threshold The value segmentation method transforms the image into a binary image and the median filter is used to remove the noise The sound. The two value image is vertically projected to make a histogram, and the position of the trough is used to determine the left Right ridge dividing line. According to the position of the left and right cotton plant, the average navigation discrete point is obtained The navigation path is obtained by the Hough transform, and then the navigation control parameters are obtained. using The coordinate transformation relationship transforms the navigation information in the image coordinate system to the world The standard system, so that the robot can walk. Based on A S2R robot for continuous dynamic The image is analyzed and the navigation parameters obtained by this method are feasible.

Packet : 115157702cottonfieldsprayingagriculturerobotsguidancewayrecognition.rar filelist
棉田喷药农业机器人的导航路径识别.pdf

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