Vision-Based Obstacle Avoidance of Mobile Robot

8/9/2019 Vision-Based Obstacle Avoidance of Mobile Robot

1/38

Click icon to addpicture

Vision-Based Obstacle Avoidance

of Mobile Robot


2/38

The robot is going to lose. Not by much.But when the final score is tallied, fleshand blood is going to beat the damn

monster." -Adam Smith


3/38

ProblemStatement


4/38

Problem of moving a robot through

unknown environment or any

rough terrainhas attracted much attention

over past two

decades.

Such problems have several

difficulties and complexities that

are unobserved, besides the


5/38

This research had been aimed todevelop a system that is able todetect obstacles in a mobile robot'spath using a single camera as only

sensory input and to achieve thetarget point in optimized manner.

For this reason, algorithm whichtook total path length and safety

into account was developed.


6/38

ConventionalApproach


7/38

The earlier approaches utilized sensorssuch as SONAR as a principle means toidentify the obstacles and approximate thedistance between the two. However, thefield range implemented under thismechanism is constrained to severalrestriction.


8/38


9/38

The graph depicts the range of the

sensors:


10/38

The sensor just detects colors atthe points they are aimed.

Also the sensors may be moredifficult to upgrade for new

products.


11/38

Approach


12/38

To control movement of robot from a starting to atarget point inside the site where obstacles canobstruct the way of robot, real-time software-speciallytailored for this purpose-was necessary to develop.

To analyze and to process scene images captured by

a (vision) camera, camera was installed on the bot ina way that it covered the path through whichsufficient image information could be delivered.


13/38

From sequentially capturedimages that was manipulated

through image processing andcomputer vision, the robo wasgiven effective decisions andthen it began planning the

desired routing path.


14/38

Image Processingtechniques


15/38

Read the image


16/38

Detect the Entire Cell


17/38

Dilate the image


18/38

Fill interior groups


19/38

Remove connected

objects on border


20/38

Smoothen the object


21/38

Lets have a better how the

system works..


22/38



23/38


Later when

the roboapproachesthe obstacle ithas to make a

decision forthe path tochoose


24/38


The robo then

captures animage of theobstacle


25/38


The image is then sent to the computer.

The image is processed through varioustools of MATLAB

The info retrieved from the image isprocessed and a decision is made onthe path to choose.


26/38



27/38



28/38



29/38



30/38

Specifications


31/38

v Power of the camera: 1.3 Megapixels

v Bot size: 10x4x5

v Bot weight: 4 lbs

v Range of Operation: 5 feetv Software & Tools: Matlab 7.0,

Basic Stamp Editor.


32/38

Applications


33/38



34/38

AirplaneNavigation

UnmannedNavigation


35/38

Defense and Military AirCombats


36/38

Conclusion


37/38

A less computationaleffort was necessary tocontrol movement ofrobot with the ability of

obstacle and avoidancedetection


38/38

Thank You

Vision-Based Obstacle Avoidance of Mobile Robot

Documents

Transcript of Vision-Based Obstacle Avoidance of Mobile Robot