Paper Info
Title
Obstacle avoidance for mobile robot navigation in unknown environment using geometrical information of mobile camera images
Abstract
In this paper, a novel and robust algorithm for avoiding obstacles in an unknown environment is proposed that utilises the geometrical analysis of the distances present in the images. A mobile camera with pan feature is used for increasing the field of view of the robot. Low level image properties red green blue colour; hue saturation value colour and brightness gradient are used for obstacle detection. Once the positions of the obstacles are determined in the image these are transformed into actual distances by the geometrical analysis and a safe passage is determined. The algorithm has been successfully implemented to avoid obstacles during navigation of a mobile robot. It has been observed that the proposed algorithm increases the robustness of obstacle avoidance and helps in the effective path planning of an autonomous mobile robot.
Year
DOI
Venue
2014
10.1504/IJCVR.2014.059358
IJCVR
Field
DocType
Volume
Motion planning,Obstacle avoidance,Computer vision,Obstacle,Computer science,Image processing,Robustness (computer science),Artificial intelligence,Mobile robot navigation,Robot,Mobile robot
Journal
4
Issue
Citations 
PageRank 
1/2
1
0.35
References 
Authors
11
2
Name
Order
Citations
PageRank
Prajjwal Prem Jamdagni110.69
Karali Patra2132.71