Development of aFree-Navigation Mobile Robot System Based on a Digital Image Processing Methodology

2nd International Conference on Engineering Sciences

Tauwafak, Maufak Ali^1 ; Alaraji, Ahmed Sabah^2 ; Sadiq, Basim Rheem^3

Mechanical Engineering Dept., University of Technology, Australia^1

Control and Systems Engineering Dept., University of Technology, Australia^2

Mechanical Engineering Dept., Karbala University, Iraq^3

关键词: Dynamic objects;    Gain information;    Kinect Device;    Mobile robot systems;    Objects location;    Percentage error;    Robot control systems;    Scanning techniques;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/433/1/012059/pdf
DOI  :  10.1088/1757-899X/433/1/012059

来源: IOP

【 摘 要 】

This paper presents the development of an image processing methodology as a scanning technique with the ability to detect static and dynamic objects in the environment of a mobile robot. The aim of the proposed methodology was to achieve free-navigation of the mobile robot. Digital cameras were thus used to explore the area around the robots as part of robot control system. A Kinect device using the proposed algorithm was thus used gain information about adjacent objects, such as their size, location, and colour. The percentage error in objects location and dimensions was less than 1.65% based on the experimental results.