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Engineering - Computational Intelligence and Complexity | Vision Based Autonomous Robot Navigation - Algorithms and Implementations

Vision Based Autonomous Robot Navigation

Algorithms and Implementations

Chatterjee, Amitava, Rakshit, Anjan, Nirmal Singh, N.

2013, X, 226 p.

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  • Presents theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism
  • Comprehensive concepts of cutting-edge map-based, map-building-based and mapless robot navigation algorithms employing vision sensors
  • Includes several real-life implementations of new vision based robot navigation algorithms and their successful applications

This book is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness.

This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.

 

Content Level » Research

Keywords » Autonomous Robot Navigation - Computational Intelligence - Computer Vision

Related subjects » Artificial Intelligence - Computational Intelligence and Complexity - Robotics

Table of contents 

Mobile Robot Navigation.- Interfacing External Peripherals with a Mobile Robot.- Vision-Based Mobile Robot Navigation Using Subgoals.- Indigenous Development of Vision-Based Mobile Robots.- Sample Implementations of Vision-Based Mobile Robot Algorithms.- Vision Based Mobile Robot Path/Line Tracking.- Simultaneous Localization and Mapping (SLAM) in Mobile Robots.- Vision Based SLAM in Mobile Robots.

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