robot navigation control based on monocular images an image processing algorithm for obstacle avoidance decisions机器人导航控制基于单目图像的图像处理算法避障的决定.pdf

Hindawi Publishing Corporation Mathematical Problems in Engineering Volume 2012, Article ID 240476, 14 pages doi:10.1155/2012/240476 Research Article Robot Navigation Control Based on Monocular Images: An Image Processing Algorithm for Obstacle Avoidance Decisions William Benn and Stanislao Lauria Department of Information Systems and Computing, Brunel University, Uxbridge UB8 3PH, UK Correspondence should be addressed to Stanislao Lauria, stasha.lauria@brunel.ac.uk Received 21 June 2012; Accepted 10 August 2012 Academic Editor: Zidong Wang Copyright q 2012 W. Benn and S. Lauria. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. This paper covers the use of monocular vision to control autonomous navigation for a robot in a dynamically changing environment. The solution focused on using colour segmentation against a selected floor plane to distinctly separate obstacles from traversable space: this is then supplemented with canny edge detection to separate similarly coloured boundaries to the floor plane. The resulting binary map where white identifies an obstacle-free area and black identifies an obstacle could then be processed by fuzzy logic or neural networks to control the robot’s next movements. Findings show that the algorithm performed strongly on solid coloured carpets, wooden, and concrete floors but had difficulty in separating colours in multicoloured floor types such as patterned carpets. 1. Introduction Autonomous mobile robots need the capability to navigate along the hallway avoiding walls in indoor environments. A number of methods have been propos