Implementation roadmap using Voronoi Diagrams for vision-based robot motion

Shahed Shojaeipour, Sallehuddin Mohamed Haris, Ali Shojaeipour

Research output: Contribution to journalArticle

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 Voronoi Diagrams VD(s) method, locations with obstacles are identified and the corresponding Voronoi cells are eliminated. From the remaining Voronoi 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.

Original languageEnglish
Pages (from-to)639-648
Number of pages10
JournalWSEAS Transactions on Systems
Volume9
Issue number6
Publication statusPublished - Jun 2010

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Image processing
Robots
Mobile robots
MATLAB
Sensors

Keywords

  • Image processing
  • Mobile robot
  • Path planning
  • Visual servo
  • Voronoi Diagrams

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering

Cite this

Implementation roadmap using Voronoi Diagrams for vision-based robot motion. / Shojaeipour, Shahed; Mohamed Haris, Sallehuddin; Shojaeipour, Ali.

In: WSEAS Transactions on Systems, Vol. 9, No. 6, 06.2010, p. 639-648.

Research output: Contribution to journalArticle

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