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Research on Navigation Line Extraction of Garden Mobile Robot Based on Edge Detection

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Abstract

The autonomous navigation of garden mobile robot plays an important role in garden monitoring and maintenance, in which the extraction of navigation line is the key technology. Due to the complexity of garden environment, the current algorithms of extracting navigation lines are easily affected by interference, relying on image preprocessing. In order to solve these problems, this paper proposed a cascade anti-interference algorithm based on edge detection. Firstly, the improved vegetation index combined with Otsu method is used to segment the road and background. Then, an edge detection algorithm is proposed to overcome the noise interference and get the road edge points. Lastly, the cascade anti-interference algorithm eliminates the interference points and extracts navigation lines. Experimental results show that the average processing time of the proposed algorithm is 36.25 ms, and the error is less than 0.8°, which is better than the traditional least square method and Hough transform method.

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Availability of Data and Materials

The datasets generated and/or analysed during the current study are available from the corresponding author on reasonable request.

Funding

The work was supported by National Natural Science Foundation of China (grant number 62163005, 51765005), Guangxi Natural Science Foundation (grant number 2022GXNSFAA035633), Guangxi Major scientific and technological project (grant number AA19254021).

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Authors and Affiliations

  1. College of Mechatronic Engineering, Guangxi University, Nanning, 530007, China

    Jiqing Chen, Zhikui Wang, Teng Long, Jiahua Wu, Ganwei Cai & Hongdu Zhang

  2. Guangxi Manufacturing System and Advanced Manufacturing Technology Key Laboratory, Nanning, 530007, China

    Jiqing Chen & Ganwei Cai

Authors
  1. Jiqing Chen
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  2. Zhikui Wang
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  3. Teng Long
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  4. Jiahua Wu
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  5. Ganwei Cai
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  6. Hongdu Zhang
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Contributions

Jiqing Chen: Conceptualization, Resources, Writing - Review & Editing, Project administration, Funding acquisition, Supervision.

Zhikui Wang: Conceptualization, Resources, Formal analysis, Writing - Original Draft, Methodology, Software.

Teng Long: Writing - Review & Editing, Formal analysis, Validation, Software, Resources.

Jiahua Wu: Writing -Review & Editing Formal analysis, Software, Resources.

Ganwei Cai: Supervision, Resources.

Hongdu Zhang: Formal analysis.

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Chen, J., Wang, Z., Long, T. et al. Research on Navigation Line Extraction of Garden Mobile Robot Based on Edge Detection. J Intell Robot Syst 105, 27 (2022). https://doi.org/10.1007/s10846-022-01648-7

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  • DOI: https://doi.org/10.1007/s10846-022-01648-7

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