ROBOT NAVIGATION SYSTEM USING LASER AND A MONOCULAR CAMERA

TAMER ABUKHALIL; MALEK ALKSASBEH; BASSAM ALQARALLEH; ANAS ABUKARAKI

Author(s)

TAMER ABUKHALIL Department of Computer Science, Alhussien Bin Talal University Ma'an, Jordan

MALEK ALKSASBEH Department of Computer Science, Alhussien Bin Talal University Ma'an, Jordan

BASSAM ALQARALLEH Department of Computer Science, Alhussien Bin Talal University Ma'an, Jordan

ANAS ABUKARAKI Department of Computer Science, Alhussien Bin Talal University Ma'an, Jordan

Abstract

The key contribution in this research work is introducing a technique that can be used to avoid unknown objects to a mobile robot. Most vision-based obstacle avoidance systems tend to have high computational complexity in order to compensate for accuracy. The proposed method tries to overcome that using pattern recognition of two laser pointers in the view of a single camera. This vision combination along with the program that runs on a base station is designed as a module that detects objects around the robot. Such obstacles are detected by calculating the intensity of the red laser points found on each frame being captured by the camera in real-time. Distance and angle to the objects is measured using Lagrange interpolation formula applied separately to each laser projection in the framed image. A map is created to show the robot's actual distances versus estimated ones as the robot keeps track of objects which are in the camera's view. The algorithm successfully manages to avoid obstacles as shown in the experiments. The effectiveness of the proposed system is evaluated by deploying the robot and performing a simple navigation task. The results show that the concept algorithm along with the hardware module is able to utilize the monocular vision with classification error of 3.63%.

Publication Details

Page(s) 714-724

DOI DOI not available

Published Journal: Journal of Theoretical and Applied Information Technology, Volume: 98, Issue: 4, Year: 2020

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Keywords

Mobile Robots, Lagrange Formula, Obstacle Avoidance, Distance Measure, Monocular Camera