Semantic-Region Aware Model Predictive Trajectory Tracking in Automated Guided Vehicles

Abstract

Autonomous routing through curved path for point-to-point mobile robot is a well-established challenging problem in the area of intelligent path navigation. Point-to-point collision-free locomotion of AGV (Automated Guided Vehicle) requires precise differentiation of movable path from other environmental visual noise. As these path navigating depend on various visual cues and precepts, naturally the semantic meaning of path in contrast to other closely available objects on the visual window requires significant amount of understanding of the input from precepts. In this paper, it is experimentally established that semantic segmentation has proved to be a concise method in making comparative better segregation of paths from midway structured obstacles that are with high computational cost. The claims are also evident from surveyed works. The challenge of reducing high computational performance with efficient segmentation of movable area has been addressed in this research work with a focus on deriving better filtered accessible paths with a degree of algorithmic confidence. Further, this segmented result is taken for curved trajectory tracking by the AGV. A systematic percept mediated deep based Semantic-region Aware Model Predictive Trajectory Tracking(SAMP-TT)Algorithm has been proposed to solve the problem of precise obstacle detection on curved path trajectories. RGB (Red, Green Blue) image of outdoor multi-sectioned area has been collected by Intel Realsense D455 which worked as input feed to the respective neural network models. The performance of the proposed technique has been benchmarked with existing segmentation models including ENET (Efficient Neural Network), U-NET to confirm the considerable reliability and accuracy of the presented algorithm. It has been followed by the state-of-art comparative visual result analysis of different taken models with the proposed architecture.