Vision-based mobile robot navigation using image processing and cell decomposition

Shahed Shojaeipour, Sallehuddin Mohamed Haris, Muhammad Ihsan Khairir

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

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 Cell Decomposition method, locations with obstacles are identified and the corresponding cells are eliminated. From the remaining 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
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages90-96
Number of pages7
Volume5857 LNCS
DOIs
Publication statusPublished - 2009
Event1st International Visual Informatics Conference, IVIC 2009 - Kuala Lumpur
Duration: 11 Nov 200913 Nov 2009

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5857 LNCS
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other1st International Visual Informatics Conference, IVIC 2009
CityKuala Lumpur
Period11/11/0913/11/09

Fingerprint

Cell Decomposition
Robot Navigation
Mobile Robot
Mobile robots
Image Processing
Navigation
Image processing
Decomposition
Shortest path
MATLAB
Robots
Cell
Sensors
Decomposition Method
Transverse
Robot
Sensor
Target
Vision

Keywords

  • Cell Decomposition
  • Image processing
  • Mobile robot
  • Path planning
  • Visual servo

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Shojaeipour, S., Mohamed Haris, S., & Khairir, M. I. (2009). Vision-based mobile robot navigation using image processing and cell decomposition. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5857 LNCS, pp. 90-96). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5857 LNCS). https://doi.org/10.1007/978-3-642-05036-7_10

Vision-based mobile robot navigation using image processing and cell decomposition. / Shojaeipour, Shahed; Mohamed Haris, Sallehuddin; Khairir, Muhammad Ihsan.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5857 LNCS 2009. p. 90-96 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5857 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shojaeipour, S, Mohamed Haris, S & Khairir, MI 2009, Vision-based mobile robot navigation using image processing and cell decomposition. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 5857 LNCS, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 5857 LNCS, pp. 90-96, 1st International Visual Informatics Conference, IVIC 2009, Kuala Lumpur, 11/11/09. https://doi.org/10.1007/978-3-642-05036-7_10
Shojaeipour S, Mohamed Haris S, Khairir MI. Vision-based mobile robot navigation using image processing and cell decomposition. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5857 LNCS. 2009. p. 90-96. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-642-05036-7_10
Shojaeipour, Shahed ; Mohamed Haris, Sallehuddin ; Khairir, Muhammad Ihsan. / Vision-based mobile robot navigation using image processing and cell decomposition. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5857 LNCS 2009. pp. 90-96 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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