The vision-based approach to mobile robot navigation is considered superior due to its affordability. This paper aims to design and construct an autonomous mobile robot with a vision-based system for outdoor navigation. This robot receives inputs from camera and ultrasonic sensor. The camera is used to detect vanishing points and obstacles from the road. The vanishing point is used to detect the heading of the road. Lines are extracted from the environment using a canny edge detector and Houghline Transforms from OpenCV to navigate the system. Then, removed lines are processed to locate the vanishing point and the road angle. A low pass filter is then applied to detect a vanishing point better. The robot is tested to run in several outdoor conditions such as asphalt roads and pedestrian roads to follow the detected vanishing point. By implementing a Simple Blob Detector from OpenCV and ultrasonic sensor module, the obstacle's position in front of the robot is detected. The test results show that the robot can avoid obstacles while following the heading of the road in outdoor environments. Vision-based vanishing point detection is successfully applied for outdoor applications of autonomous mobile robot navigation.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Vision-based vanishing point detection of autonomous navigation of mobile robot for outdoor applications



    Erscheinungsdatum :

    2021-12-31


    Anmerkungen:

    doi:10.14203/j.mev.2021.v12.117-125
    Journal of Mechatronics, Electrical Power, and Vehicular Technology; Vol 12, No 2 (2021); 117-125 ; Journal of Mechatronics, Electrical Power and Vehicular Technology; Vol 12, No 2 (2021); 117-125 ; 2088-6985 ; 2087-3379



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    AUTONOMOUS MOBILE ROBOT FOR OUTDOOR APPLICATIONS

    BANGALORE SRINIVAS VENKATESH PRASAD / CHINTALAPALLI PATTA VENKAT RAJU / KAMBLE PRADEEP PRABHAKAR et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    AUTONOMOUS MOBILE ROBOT FOR OUTDOOR APPLICATIONS

    BANGALORE SRINIVAS VENKATESH PRASAD / CHINATALAPALLI PATTA VENKAT RAJU / KAMBLE PRADEEP PRABHAKAR et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Stereo vision SLAM based indoor autonomous mobile robot navigation

    Al-Mutib, Khalid N. / Mattar, Ebrahim A. / Alsulaiman, Mansour M. et al. | IEEE | 2014


    Monocular Vision for Mobile Robot Localization and Autonomous Navigation

    Royer, E. / Lhuillier, M. / Dhome, M. et al. | British Library Online Contents | 2007


    Autonomous Mobile Robot System for Long Distance Outdoor Navigation on University Campus

    Maeyama, S. / Ohya, A. / Yuta, S. | British Library Online Contents | 1997