The drive mode, steer mode as well as the navigation method was selected. In consideration of the practicability, it was determined to use the front-wheel-steering chassis. The steering mechanism was controlled by the stepping motors, and it is guided by Machine Vision. The optimization and calibration of the steering mechanism was made. A mathematical model was built and the objective functions was constructed for the steering mechanism.
The extraction method of the steering line was studied and the motion controller was designed and optimized. The theory of HSV, RGB color space and analysis of the testing result will be discussed
Using the function library OPENCV on the Linux system to fulfill the camera calibration. Based on the HSV color space to design the guidance algorithm.