Vision Based Autonomous Robot Navigation: Algorithms and Implementations

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This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness.

This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.

Author(s): Amitava Chatterjee, Anjan Rakshit, N. Nirmal Singh (auth.)
Series: Studies in Computational Intelligence 455
Edition: 1
Publisher: Springer-Verlag Berlin Heidelberg
Year: 2013

Language: English
Pages: 226
Tags: Computational Intelligence; Artificial Intelligence (incl. Robotics); Robotics and Automation

Front Matter....Pages 1-8
Mobile Robot Navigation....Pages 1-20
Interfacing External Peripherals with a Mobile Robot....Pages 21-46
Vision-Based Mobile Robot Navigation Using Subgoals....Pages 47-82
Indigenous Development of Vision-Based Mobile Robots....Pages 83-100
Sample Implementations of Vision-Based Mobile Robot Algorithms....Pages 101-142
Vision Based Mobile Robot Path/Line Tracking....Pages 143-166
Simultaneous Localization and Mapping (SLAM) in Mobile Robots....Pages 167-206
Vision Based SLAM in Mobile Robots....Pages 207-222
Back Matter....Pages 0--1