Mobile Robot Navigation Based on Circle Recognition

Mobile Robot Navigation Based on Circle Recognition

This paper presents a navigation method for a mobile robot using a visual system. Circular marks with specific colors are used for marking the significant points of the mobile robot’s trajectory that it needs to pass. The colors of the used marks are signalizing the way of their bypassing with the m...

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Veröffentlicht in:Journal of Electrical Engineering 2013-03, Vol.64 (2), p.84-91
Hauptverfasser: Pásztó, Peter, Hubinský, Peter
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Sprache:eng
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circular mark detection
Hough transform
image processing
mobile robot trajectory planning
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Hubinský, Peter
description This paper presents a navigation method for a mobile robot using a visual system. Circular marks with specific colors are used for marking the significant points of the mobile robot’s trajectory that it needs to pass. The colors of the used marks are signalizing the way of their bypassing with the mobile robot (from the left or right side). The mobile robot uses only one camera for the marks recognition task and it is able to determine its own relative position from the detected marks. The image processing and the mobile robot’s trajectory planning algorithm working in real-time are described in this paper.
doi_str_mv 10.2478/jee-2013-0012
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source Walter De Gruyter: Open Access Journals; EZB-FREE-00999 freely available EZB journals
subjects circular mark detection
Hough transform
image processing
mobile robot trajectory planning
title Mobile Robot Navigation Based on Circle Recognition
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