Combining the knowledge of structural road and edge detecting method, a machine vision algorithm was proposed to understand the surrounding environment.

• 根据结构化道路环境的特点提出了一种将边沿检测和道路环境知识相结合的机器视觉算法；并结合基于行为响应的路径规划方法和智能预瞄控制方法；实现了一套基本的机器人视觉导航系统.