Sensor-Fusion Based Navigation for Mobile Robot in Outdoor Environment
Journal Title: Mehran University Research Journal of Engineering and Technology - Year 2019, Vol 38, Issue 1
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.
Authors and Affiliations
M. Y. A. Khan, E. Mustafa, A. Nawaz, N. Saleem, U. Illahi
Keywords
Related Articles
- EP ID EP442954
- DOI 10.22581/muet1982.1901.10
- Views 93
- Downloads 0
Conjugated Conduction-Free Convection Heat Transfer in an Annulus Heated at Either Constant Wall Temperature or Constant Heat Flux
In this paper, we investigate numerically the effect of thermal boundary conditions on conjugated conduction-free convection heat transfer in an annulus between two concentric cylinders using Fourier Spectral method. The...
Effect of Lowering Twist Levels on Quality Parameters of Rotor Spun Cotton Yarn
Investigations were made to explore the influence of lowering twist level on quality characteristics of rotor spun yarn. Three levels of yarn linear density (i.e. 40, 35 and 30 tex) and five levels of twist (i.e. 700, 60...
Sensor-Fusion Based Navigation for Mobile Robot in Outdoor Environment
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...
A Symmetric RZ-DPSK Based Colorless NG-PON using Optical Carrier Suppression Scheme
In this paper a simultaneous transmission of a 10 Gbps RZ-DPSK data signal for downstream as well as for upstream is proposed and successfully simulated. An OCS (Optical Carrier Suppression) scheme for generation of seco...
Evaluation of Urban Bus Transport Failure in Gujranwala City of Pakistan
This research work has evaluated the performance of urban public bus transport service operating in Gujranwala city of Pakistan. The assessment has been made in terms of financial viability, bus condition, operational pe...