Webcam-based mobile robot path planning using Voronoi Diagrams and image processing

Shahed Shojaeipour, Sallehuddin Mohamed Haris, Elham Gholami, Ali Shojaeipour

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

6 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 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
Title of host publicationProceedings of the 9th WSEAS International Conference on Applications of Electrical Engineering, AEE '10
Pages151-156
Number of pages6
Publication statusPublished - 2010
Event9th WSEAS International Conference on Applications of Electrical Engineering, AEE '10 - Penang
Duration: 23 Mar 201025 Mar 2010

Other

Other9th WSEAS International Conference on Applications of Electrical Engineering, AEE '10
CityPenang
Period23/3/1025/3/10

Fingerprint

Motion planning
Mobile robots
Image processing
MATLAB
Robots
Sensors

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Shojaeipour, S., Mohamed Haris, S., Gholami, E., & Shojaeipour, A. (2010). Webcam-based mobile robot path planning using Voronoi Diagrams and image processing. In Proceedings of the 9th WSEAS International Conference on Applications of Electrical Engineering, AEE '10 (pp. 151-156)

Webcam-based mobile robot path planning using Voronoi Diagrams and image processing. / Shojaeipour, Shahed; Mohamed Haris, Sallehuddin; Gholami, Elham; Shojaeipour, Ali.

Proceedings of the 9th WSEAS International Conference on Applications of Electrical Engineering, AEE '10. 2010. p. 151-156.

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

Shojaeipour, S, Mohamed Haris, S, Gholami, E & Shojaeipour, A 2010, Webcam-based mobile robot path planning using Voronoi Diagrams and image processing. in Proceedings of the 9th WSEAS International Conference on Applications of Electrical Engineering, AEE '10. pp. 151-156, 9th WSEAS International Conference on Applications of Electrical Engineering, AEE '10, Penang, 23/3/10.
Shojaeipour S, Mohamed Haris S, Gholami E, Shojaeipour A. Webcam-based mobile robot path planning using Voronoi Diagrams and image processing. In Proceedings of the 9th WSEAS International Conference on Applications of Electrical Engineering, AEE '10. 2010. p. 151-156
Shojaeipour, Shahed ; Mohamed Haris, Sallehuddin ; Gholami, Elham ; Shojaeipour, Ali. / Webcam-based mobile robot path planning using Voronoi Diagrams and image processing. Proceedings of the 9th WSEAS International Conference on Applications of Electrical Engineering, AEE '10. 2010. pp. 151-156
@inproceedings{f523644f6db34afa839ed2509d55fdf5,
title = "Webcam-based mobile robot path planning using Voronoi Diagrams and image processing",
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.",
keywords = "Image processing, Mobile robot, Path planning, Visual servo, Voronoi Diagrams",
author = "Shahed Shojaeipour and {Mohamed Haris}, Sallehuddin and Elham Gholami and Ali Shojaeipour",
year = "2010",
language = "English",
isbn = "9789604741717",
pages = "151--156",
booktitle = "Proceedings of the 9th WSEAS International Conference on Applications of Electrical Engineering, AEE '10",

}

TY - GEN

T1 - Webcam-based mobile robot path planning using Voronoi Diagrams and image processing

AU - Shojaeipour, Shahed

AU - Mohamed Haris, Sallehuddin

AU - Gholami, Elham

AU - Shojaeipour, Ali

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

KW - Image processing

KW - Mobile robot

KW - Path planning

KW - Visual servo

KW - Voronoi Diagrams

UR - http://www.scopus.com/inward/record.url?scp=79952549929&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79952549929&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:79952549929

SN - 9789604741717

SP - 151

EP - 156

BT - Proceedings of the 9th WSEAS International Conference on Applications of Electrical Engineering, AEE '10

ER -