Vision Based Robot Navigation

Vision Based Robot Navigation

Obstacle Avoidance & Road Following Behaviors

LAP Lambert Academic Publishing ( 2013-02-26 )

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The aspiration of this research work is to design vision based intelligent mobile robot navigation techniques to capacitate an autonomous robot to navigate in indoor/outdoor environments. The images from mobile robot, accoutered with a camera, are preprocessed and are used for drivable region extraction. A novel weighted matrix algorithm (WMA) is used for drivable region division for, both, constructed and unconstructed scenarios. Hurdle distance, reckoned from ultrasonic sensors information, is used in conjunction with extracted drivable road to generate the motion commands for road following and hurdle avoidance behavior. Navigation controller design has been actualized in MATLAB by exerting fuzzy logic soft computing techniques to engender the sought motion commands. The designed controllers are evaluated in a simulator for assorted hurdle and environment conditions prior to real time implementation on archetype robot.

Book Details:

ISBN-13:

978-3-659-32158-0

ISBN-10:

3659321583

EAN:

9783659321580

Book language:

English

By (author) :

Muhammad Amar
Khalid Mahmood ul Hasan
Umar Farooq

Number of pages:

104

Published on:

2013-02-26

Category:

Informatics