A Tracked Mobile Robot with Vision-based Obstacle Avoidance

Varun Raj, K and Bidargaddi, SV and Krishnanand, KN and Ghose, D (2007) A Tracked Mobile Robot with Vision-based Obstacle Avoidance. In: 13th National Conference on Machines and Mechanisms, NaCoMM 2007, 12 December 2007through 13 December 2007, Bangalore, pp. 141-147.

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Abstract

This paper presents VITAR (VIsion based Tracked Autonomous Robot), a robotic test bed that consists of a tracked mobile robot equipped with a pan-tilt mounted vision system, an onboard PC, driver electronics, and a wireless link to a remote PC. A novel vision-based obstacle avoidance algorithm is implemented on the robot. The robot uses histograms of images obtained from a monocular and monochrome camera to detect and avoid obstacles in a dynamic environment. As the generation of histogram is computationally inexpensive, the robot is quick to avoid the obstacles. Several experiments conducted with different obstacle environments validate the effectiveness of the algorithm. © 13th National Conference on Machines and Mechanisms, NaCoMM 2007.

Item Type:	Conference Paper
Publication:	13th National Conference on Machines and Mechanisms, NaCoMM 2007
Publisher:	PERGAMON-ELSEVIER SCIENCE LTD
Additional Information:	The copyright for this article belongs to PERGAMON-ELSEVIER SCIENCE LTD.
Keywords:	Collision avoidance; Graphic methods; Mobile robots; Robot vision, Driver electronics; Images segmentations; Obstacles avoidance; Pan/tilt; Test bed; Tracked mobile robots; Vision based; Vision systems; Vision-based obstacle avoidance; Wireless link, Image segmentation
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	03 Jul 2024 13:06
Last Modified:	03 Jul 2024 13:06
URI:	http://eprints.iisc.ac.in/id/eprint/84588

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