DESIGN AND FABRICATION OF AN AUTONOMOUS MOBILE ROBOT EQUIPPED WITH COLOR LASERS AND ITS TRAJECTORY CONTROL BASED ON MACHINE VISION

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KHODAEI SAEED; ALLAHVERDIZADEH AKBAR; DADASHZADEH BEHNAM

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Journal: Modares Mechanical Engineering Year:2017 | Volume:17 | Issue:6 Page(s): 213-220

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Information Journal Paper

Title

DESIGN AND FABRICATION OF AN AUTONOMOUS MOBILE ROBOT EQUIPPED WITH COLOR LASERS AND ITS TRAJECTORY CONTROL BASED ON MACHINE VISION

Author(s)

KHODAEI SAEED | ALLAHVERDIZADEH AKBAR | DADASHZADEH BEHNAM | Issue Writer Certificate

Keywords

MOBILE ROBOTQ2

MACHINE VISIONQ1

IMAGE PROCESSINGQ2

OBSTACLE AVOIDANCEQ2

Abstract

This paper presents a new method based on MACHINE VISION for MOBILE ROBOTs to detect and avoid obstacles in unknown environments. One of the challenges of MOBILE ROBOTs trajectory control in unknown environments is that their OBSTACLE AVOIDANCE system should be designed robust to material and the shape of the obstacle. In this research a MOBILE ROBOT equipped with a camera is designed and fabricated. Also, an algorithm is proposed and implemented on the robot in order to detect obstacles by IMAGE PROCESSING and to control the robot trajectory. Three color laser pointers are mounted on the robot with certain angles that emit beams to the ground in front of the robot. The received images from camera contain these colored points whose coordinates are determined by IMAGE PROCESSING. Then the position of any possible obstacle is detected using the proposed algorithm and the robot is commanded to avoid obstacles by changing its path. These obstacles can be static or dynamic. Our experimental results show that the proposed method, with a high reliability, has the ability to detect and avoid obstacles of any shape and material whereas other similar methods were restricted in this regard.

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APA: Copy

KHODAEI, SAEED, ALLAHVERDIZADEH, AKBAR, & DADASHZADEH, BEHNAM. (2017). DESIGN AND FABRICATION OF AN AUTONOMOUS MOBILE ROBOT EQUIPPED WITH COLOR LASERS AND ITS TRAJECTORY CONTROL BASED ON MACHINE VISION. MODARES MECHANICAL ENGINEERING, 17(6 ), 213-220. SID. https://sid.ir/paper/179227/en

Vancouver: Copy

KHODAEI SAEED, ALLAHVERDIZADEH AKBAR, DADASHZADEH BEHNAM. DESIGN AND FABRICATION OF AN AUTONOMOUS MOBILE ROBOT EQUIPPED WITH COLOR LASERS AND ITS TRAJECTORY CONTROL BASED ON MACHINE VISION. MODARES MECHANICAL ENGINEERING[Internet]. 2017;17(6 ):213-220. Available from: https://sid.ir/paper/179227/en

IEEE: Copy

SAEED KHODAEI, AKBAR ALLAHVERDIZADEH, and BEHNAM DADASHZADEH, “DESIGN AND FABRICATION OF AN AUTONOMOUS MOBILE ROBOT EQUIPPED WITH COLOR LASERS AND ITS TRAJECTORY CONTROL BASED ON MACHINE VISION,” MODARES MECHANICAL ENGINEERING, vol. 17, no. 6 , pp. 213–220, 2017, [Online]. Available: https://sid.ir/paper/179227/en

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