This dissertation concerns path planning and ripeness detection for an autonomous robot operating in a two-dimensional environment equipped for an imaginary map.This thesis provides the robot and computer employed in it with a relatively simple method for determining paths in a Lychee garden and detecting ripe Lychee from images.This study builds up a picture guided versatile automated robotic path planning for the Lychee garden.The focal point of the research is on rapid image processing,simple... 

【文章來源】：華南理工大學廣東省 211工程院校 985工程院校 教育部直屬院校

【文章頁數(shù)】：83 頁

【學位級別】：碩士

【文章目錄】：
Abstract
Abbreviation List
Chapter 1 Introduction
    1.1 Introduction
    1.2 Motivation
    1.3 Research Objectives
    1.4 Problem Definition
    1.5 Related Works
    1.6 Contribution of the Thesis
    1.7 Outlines of the Thesis
    1.8 Chapter Summary
Chapter 2 Theoretical Background of Path Planning and Detection
    2.1 Brief overview of robot Path Planning
        2.1.1 Path Planning in Static known environment
        2.1.2 Path Planning in Dynamic unknown environment
        2.1.3 Popular Path Planning Approaches
    2.2 Ripe Lychee fruit detection using Image Processing technique
        2.2.1 Purpose of using Image Processing technique
        2.2.2 Determination of Ripeness
    2.3 Feature-extraction techniques for fruit detection
        2.3.1 Color-feature extraction
        2.3.2 Shape-feature extraction
        2.3.3 Texture-feature extraction
    2.4 Path Planning using Image Processing
    2.5 Robot and environment simulator
    2.6 Chapter Summary
Chapter 3 Color-feature based ripe Lychee fruits detection
    3.1 Analysis of Color-feature extraction method
    3.2 Chromatic difference Analysis
    3.3 Color-thresholding Approach
    3.4 Algorithm for automatic detection of ripening Lychee
    3.5 Proposed Image Processing techniques
        3.5.1 Image acquisition and processing
        3.5.2 HSV Color transformation
        3.5.3 Contouring around ripe Lychee fruits
        3.5.4 Removing image background
        3.5.5 Segmentation using Color Thresholding Algorithm
    3.6 Review on ripe fruit detection
    3.7 Performance of proposed technique
    3.8 Impacts on variable image resolution
    3.9 Chapter Summary
Chapter 4 Graph-based Lychee garden Path Planning
    4.1 Graph-based Path Planning
    4.2 Application of Graph theory
    4.3 Graph Theory in Image Processing
    4.4 Graph Search theory
        4.4.1 Informed Path Planning
        4.4.2 Uninformed Path Planning
        4.4.3 Finding the shortest path in the graph
        4.4.4 Related works on the Graph search Algorithm
    4.5 Grid-based environment map Modelling
    4.6 Robotic navigation
    4.7 Data Structures for the map
    4.8 Using BFS Algorithm for Lychee garden Path Planning
        4.8.1 Algorithm
        4.8.2 Pseudo code of BFS Algorithm (G, s)
        4.8.3 Search Process
    4.9 Overall system procedure
    4.10 Comparison of BFS with Dijakstra Algorithm
    4.11 Chapter Summary
Chapter 5 Computational Implementation and Result
    5.1 Analysis Platform
    5.2 Results obtained using the Breadth-First Search algorithm
    5.3 Results obtained using different start and end point
    5.4 Results obtained using Image processing technique
    5.5 Fruit Identifying accuracy rate
    5.6 False detection as ripe Lychee fruit
    5.7 Overview of the System
Chapter 6 Discussion and Future Works
    6.1 Conclusion
    6.2 Research Limitation
    6.3 Future Works
ACKNOWLEDGEMENT
REFERENCES
攻讀碩士學位期間取得的研究成果
附件


【參考文獻】：
期刊論文
[1]夜間自然環(huán)境下荔枝采摘機器人識別技術(shù)[J]. 熊俊濤,林睿,劉振,何志良,楊振剛,卜榕彬.  農(nóng)業(yè)機械學報. 2017(11)
[2]基于彩色信息的樹上柑橘識別研究[J]. 徐惠榮,葉尊忠,應義斌.  農(nóng)業(yè)工程學報. 2005(05)



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