Abstract - In this project we developed 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 robots current field of view. In order to avoid obstacles we designed a reasoning process that successively builds an environment representation using the location of the detected obstacles. The optimal decisions to avoid the obstacles are made in respect to this environment representation.
Tests During The Application Development:
Application Main Modules:
- Wi-fi PC-Robot Communication Module - This module provides communication support for robot remote control over a wireless TCP/IP connection.
- Obstacle Detection Module - This module provides the necessary support for obstacle(s) visual identification and localization.
- Decision Agent Module - This module incorporates the robot reasoning process, which successively builds an environment representation and makes optimal decisions to avoid all obstacles on the robots travel path towards a specified goal.
Demo: Coming Soon...
Results: Coming Soon...