Vision-Based Mobile Robot Navigation Using Image Processing and Cell Decomposition

Authors:
Shahed Shojaeipour;Sallehuddin Mohamed Haris;Muhammad Ihsan Khairir
Affiliations:
Department of Mechanical and Materials Engineering, Universiti Kebangsaan Malaysia, Bangi, Malaysia 43600 UKM;Department of Mechanical and Materials Engineering, Universiti Kebangsaan Malaysia, Bangi, Malaysia 43600 UKM;Department of Mechanical and Materials Engineering, Universiti Kebangsaan Malaysia, Bangi, Malaysia 43600 UKM
Venue:
IVIC '09 Proceedings of the 1st International Visual Informatics Conference on Visual Informatics: Bridging Research and Practice
Year:
2009

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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.