Abstract
This paper describes a novel recognition algorithm which includes mean filter, Gaussian filter, Retinex enhancement method, and Ostu threshold segmentation method (MGRO) for the navigation of mobile robots with visual sensors. The approach includes obstacle visual recognition and navigation path planning. In the first part, a three-stage method for obstacle visual recognition is constructed. Stage 1 combines mean filtering and Gaussian filtering to remove random noise and Gauss noise in the environmental image. Stage 2 increases image contrast by using the Retinex enhancement method. Stage 3 uses the Ostu threshold segmentation method to achieve obstacle feature extraction. A navigation method based on the auxiliary visual information is constructed in the second part. The method is based on the artificial potential field (APF) method and is able to avoid falling into local minimum by changing the repulsion field function. Experimental results confirm that obstacle features can be extracted accurately and the mobile robot can avoid obstacles safely and arrive at target positions correctly.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
