Abstract
Autonomous navigation of the vehicles or robots is very challenging and useful task used by many scientists and researchers these days. By keeping this fact in mind, an algorithm for autonomous navigation of mobile robot in outdoor environment is proposed. This navigation track consists of colored border containing obstacles and some unplanned surfaces along with some specific points for GPS (Global Positioning System) alarms. The main goal is to avoid colored border and obstacles. For the vision problem webcam is used. First the colored border is detected by using OpenCV library by following HSI (Hue Saturation Intensity)technique. The Canny edge algorithm is used to find both edges of the border, then for detecting straight lines on both sides of track, Hough transformation is used. Finally, the closest border line is detected and its center point is calculated for which the mobile robot has to steer to avoid it. Second step is to avoid the obstacles, which is done by LRF (Laser Range Finder), first the range of LRF is defined, because not all obstacles have to be avoided, only those obstacles are detected and avoided which are in specified range as defined before, and finally GPS receiver is used to make alarms at some specific points. As a result, a successful navigation of the mobile robot in the outdoor environment is implemented.
Highlights
Autonomous navigation of the vehicles or robots is very challenging and useful task used by many scientists and researchers these days
In this paper we proposed a method to move autonomously the mobile robot for some specific trackin the outdoor environment
Some authors have used both the vision and laser data for tracking moving obstacles like humans on outdoor environment depending on the speed of the obstacles [12].A hybrid approach is used to decrease the computational time of type-reduction process [13]
Summary
Avery hot topic among the engineers and scientists who are working in the field of mobile robots. Some use mobile robot by control station and control Some authors have used both the vision and laser data for tracking moving obstacles like humans on outdoor environment depending on the speed of the obstacles [12].A hybrid approach is used to decrease the computational time of type-reduction process [13]. By using this algorithm and kinematic design, navigation of the mobile robot in the outdoor environment has been successfully implemented. Mehran University Research Journal of Engineering & Technology, Volume 38, No 1, January, 2019 [p-ISSN: 0254-7821, e-ISSN: 2413-7219] 114
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