Title :
An Algorithm for Vision-Based Navigation of an Indoor Mobile Robot
Author :
Abdelfatah, Doaa ; Hafez, Ashraf M. ; Rabeh, M. Lotfy
Author_Institution :
Dept. of Electr. Eng., Shoubra Fac. of Eng., Cairo
Abstract :
In this paper an efficient, robust, mapless navigation algorithm is developed. This navigation algorithm enables the robot to avoid collision with obstacles existing in an indoor environment (e.g. chairs, desks, file cabinets, persons, etc.) and determining which direction (right, left, forward, or stop) the robot should take. The algorithm has been developed and verified using MATLAB image processing toolbox
Keywords :
collision avoidance; mobile robots; navigation; robot vision; MATLAB image processing toolbox; collision avoidance; computer vision; indoor mobile robot; mapless navigation algorithm; obstacle avoidance; vision-based navigation; Cameras; Computer vision; Filters; Image processing; Mathematical model; Mobile robots; Navigation; Robot vision systems; Robustness; Solid modeling;
Conference_Titel :
Information and Communication Technologies, 2006. ICTTA '06. 2nd
Conference_Location :
Damascus
Print_ISBN :
0-7803-9521-2
DOI :
10.1109/ICTTA.2006.1684659
