Optimization of vision-guided mobile robot navigation

Ooi, Yee Khai (2016) Optimization of vision-guided mobile robot navigation. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The navigation of mobile robot always includes sensors like ultrasonic sensor, infrared sensor, and laser rangefinder to detect objects and physical changes at the world environment. However, the transmitting signal of these sensors will be interrupted when there is disturbance occurs at the surrounding environment. This will cause to the inaccurate signal and data to be received by the controller. Vision sensor which is a camera-based sensor is more preferable and selected to be developed as the vision system to the mobile robot for navigation. This is because of the data obtained by a camera sensor is of image form and thus occurrence of disturbance to the data transferring will be more difficult. A Pixy colour camera is installed on an Arduino mobile robot and the vision system is developed through programming using Arduino IDE to integrate the camera module with the robot module. The vision system is created to perform navigation and obstacle avoidance via several algorithms such as image processing, data extraction, and computation. The integrated vision-guided mobile robot able to follow line to navigate and switch path to avoid obstacle. The time taken for the vision-guided mobile robot in line following is much shorter when compared to mobile robot that utilizes infrared sensor in following the same path. The vision system is precise in detecting the colour difference during path switching. It also has high consistency in repeating the same path.

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