Wall navigation algorithm for finding straight line of wall combined with Hough transform
In order to solve the problems such as poor navigation effect and not smooth path along the curved wall in the navigation process of mobile robot along the wall,a wall navigation algorithm based on Hough transform was proposed.In this algorithm,the straight line in the current position obstacle was extracted by Hough transform,and the nearest straight line to the robot was found as the reference straight line along the wall.When navigating along the wall,the straight line state of the historical wall and the current straight line state of the wall were collected to determine the current motion direction of the ground washing robot,and the preset path of navigation along the wall was extracted according to the current straight line of the wall.This cycle continued until the specified task of navigation along the wall was completed.Finally,the simulation and practical experiments of the algorithm showed that the algorithm could complete the task of navigation along the wall well in different environments.
Hough transformstraight line of walldirection of motionpreset pathnavigation along walls
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