A Low Cost Single Board Computer Based Mobile Robot Motion Planning System for Indoor Environments
Journal Title: International Journal of Intelligent Systems and Applications in Engineering - Year 2016, Vol 4, Issue 4
Abstract
In this study, a low cost, flexible and modular structure is proposed for mobile robot motion planning systems in an indoor environment with obstacles. In this system, the mobile robot has to follow the shortest path to the target avoiding obstacles. It is designed as three main modules including image processing, path planning and robot motion blocks. These modules are embedded on a single board computer. In the image processing module, the image of the indoor environment, including a mobile robot, obstacles and a target, having different colors is taken to the single board computer with a wireless IP camera. This image is processed to find the locations of the mobile robot, obstacles and the target in C programming language using OpenCV. In path planning module, the shortest and optimal path is generated for the mobile robot. Generated path is applied to the robot motion module to produce necessary angles and distances for the mobile robot to reach the target. Since the structure of the proposed system is designed as modular and flexible, similar or different hardware, software or methods can be applied to these three modules.
Authors and Affiliations
Serdar Solak| Department of Informatics, Kocaeli University, Kocaeli – 41380, Turkey, Emine Dogru Bolat*| Dep. of Biomedical Eng., Kocaeli University, Kocaeli –41380, Turkey, Adem Tuncer| Dep. of Computer Eng., Yalova University, Yalova –77200, Turkey, Mehmet Yildirim| Dep. of Inf. Syst. Eng., Kocaeli University, Kocaeli –41380, Turkey
Keywords
Related Articles
- EP ID EP806
- DOI 10.18201/ijisae.2016426379
- Views 540
- Downloads 22
Using Word Embeddings for Ontology Enrichment
Word embeddings, distributed word representations in a reduced linear space, show a lot of promise for accomplishing Natural Language Processing (NLP) tasks in an unsupervised manner. In this study, we investigate if the...
The Classification of Diseased Trees by Using kNN and MLP Classification Models According to the Satellite Imagery
In this study, the Japanese Oak and Pine Wilt in forested areas of Japan was classified into two group as diseased trees and all other land cover area according to the 6 attributes in the spectral data set of the forest....
Artificial Neural Network Models for Predicting the Energy Consumption of the Process of Crystallization Syrup in Konya Sugar Factory
In this study, artificial neural network models have been developed from the sugar production process stages in Konya Sugar Factory using artificial neural networks to estimate the energy consumption of the process of cr...
Long Term and Remote Health Monitoring with Smartphone
The basic aim of our work is to provide solutions with monitoring the heart beat rates of disabled or old people. And also we expect to help the people who have specific heart diseases like potential cardiac arrests...
Power System Contingency Ranking using Fuzzy Logic Based Approach
Voltage stability is a major concern in planning and operations of power systems. It is well known that voltage instability and collapse have led to major system failures. Modern transmission networks are more heavily lo...