Abstract
This paper describes a system comprising a CCD sensor coupled with an infra-red emitter so that the emission of structured light then captured in the sensor CCD (vision angle 90°) gives the 3-D co-ordinates of the light impact points. Working from the co-ordinate matrix supplied, surrounding obstacles and vacant areas can be detected. The environment through which the robot may move is generated considering its dimensions and orientation. A check is made in the latest environment update of whether any obstacles balk the objective. If so, the path is varied so that the obstacle is avoided and the path optimum.
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