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Proceedings Paper

Obstacle recognition for path planning in autonomous mobile robots
Author(s): Ulises Orozco-Rosas; Kenia Picos; Oscar Montiel; Roberto Sepúlveda; Víctor H. Díaz-Ramírez
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Paper Abstract

Computer vision is an important task in robotics applications. This work proposes an approach for autonomous mobile robot navigation using the integration of the template-matching filters for obstacle detection and the evolutionary artificial potential field method for path planning. The recognition system employs a digital camera to sense the environment of a mobile robot. The captured scene is processed by a bank of space variant filters in order to find the obstacles and a feasible area for the robot navigation. The path planning employs evolutionary artificial potential fields to derive optimal potential field functions using evolutionary computation. Simulation results to validate the analysis and implementation are provided; they were specifically made to show the effectiveness and the efficiency of the proposal.

Paper Details

Date Published: 14 September 2016
PDF: 10 pages
Proc. SPIE 9970, Optics and Photonics for Information Processing X, 99700X (14 September 2016); doi: 10.1117/12.2237412
Show Author Affiliations
Ulises Orozco-Rosas, Instituto Politécnico Nacional - Ctr. de Investigación y Desarrollo de Tecnología Digital (Mexico)
Kenia Picos, Instituto Politécnico Nacional - Ctr. de Investigación y Desarrollo de Tecnología Digital (Mexico)
Oscar Montiel, Instituto Politécnico Nacional - Ctr. de Investigación y Desarrollo de Tecnología Digital (Mexico)
Roberto Sepúlveda, Instituto Politécnico Nacional - Ctr. de Investigación y Desarrollo de Tecnología Digital (Mexico)
Víctor H. Díaz-Ramírez, Instituto Politécnico Nacional - Ctr. de Investigación y Desarrollo de Tecnología Digital (Mexico)


Published in SPIE Proceedings Vol. 9970:
Optics and Photonics for Information Processing X
Khan M. Iftekharuddin; Abdul A. S. Awwal; Mireya García Vázquez; Andrés Márquez; Mohammad A. Matin, Editor(s)

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Obstacle recognition for path planning in autonomous mobile robots



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