Vision Based Autonomous Navigation in Unstructured Static Environments for Mobile Ground Robots
- Authors
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D. Novischi
Dept. of Electrical Engineering, Politehnica University of Bucharest, Bucharest, Romania
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C. Ilas
Dept. of Electrical Engineering, Politehnica University of Bucharest, Bucharest, Romania
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S. Paturca
Dept. of Electrical Engineering, Politehnica University of Bucharest, Bucharest, Romania
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M. Ilas
Dept. of Electronics and Telecommunications, Politehnica University of Bucharest, Bucharest, Romania
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- Abstract
- This paper presents an algorithm for real-time vision based autonomous navigation for mobile ground robots in an unstructured static environment. The obstacle detection is based on Canny edge detection and a suite of algorithms for extracting the location of all obstacles in robot's current view. In order to avoid obstacles we designed a reasoning process that successively builds an environment representation using the location of the detected obstacles. This environment representation is then used for making optimal decisions on obstacle avoidance.
- References
- Downloads
- Published
- 2011-06-22
- Issue
- Vol. 13 No. 2 (2011)
- Section
- Articles