Paper Info
Title
Vision-Based Mobile Robot Navigation Using Image Processing and Cell Decomposition
Abstract
In this paper, we present a method to navigate a mobile robot using a webcam. This method determines the shortest path for the robot to transverse to its target location, while avoiding obstacles along the way. The environment is first captured as an image using a webcam. Image processing methods are then performed to identify the existence of obstacles within the environment. Using the Cell Decomposition method, locations with obstacles are identified and the corresponding cells are eliminated. From the remaining cells, the shortest path to the goal is identified. The program is written in MATLAB with the Image Processing toolbox. The proposed method does not make use of any other type of sensor other than the webcam.
Year
DOI
Venue
2009
10.1007/978-3-642-05036-7_10
IVIC
Keywords
Field
DocType
mobile robot,shortest path,image processing method,cell decomposition method,target location,remaining cell,corresponding cell,image processing,vision-based mobile robot navigation,visual servoing,mobile robot navigation,path planning,decomposition method
Motion planning,Computer vision,MATLAB,Shortest path problem,Computer science,Toolbox,Image processing,Artificial intelligence,Mobile robot navigation,Robot,Mobile robot
Conference
Volume
ISSN
Citations 
5857
0302-9743
0
PageRank 
References 
Authors
0.34
5
3
Name
Order
Citations
PageRank
Shahed Shojaeipour100.68
Sallehuddin Mohamed Haris232.15
Muhammad Ihsan Khairir300.34