Title: Novel design for real time path tracking with computer vision using neural networks

Authors: Abhinav Agarwal, Sanketh Datla, Barjeev Tyagi, Rajdeep Niyogi

Addresses: Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee – 247667, Uttrakhand, India. ' Department of Electronics and Computer Engineering, Indian Institute of Technology Roorkee, Roorkee – 247667, Uttrakhand, India. ' Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee – 247667, Uttrakhand, India. ' Department of Electronics and Computer Engineering, Indian Institute of Technology Roorkee, Roorkee – 247667, Uttrakhand, India

Abstract: Accurate localisation and mapping is a problem of great interest and significance in mobile robotics. In most of the cases, the environment is unstructured and is unknown beforehand. Building an autonomous robot in the real time environment is quite challenging and requires modelling and investigation. In this paper, the path tracking by using computer vision techniques in robotics is employed. Attempt is made to make the robot completely autonomous and to control it from remote locations. A robotic car has been constructed and image processing operations like wiener filtering, thresholding and Hough transforms have been applied. Introduction of neural networks gives it an autonomous sense. Wireless communication is implemented to accomplish the above desired task in real time. A novel approach to steer the robot using stepper motor is designed and implemented by transmitting the control commands wirelessly.

Keywords: computer vision; mobile robots; image processing; stepper motors; wireless communications; Hough transform; edge detection; neural networks; robot localisation; mapping; autonomous robots; robot path tracking; robot control; robotic cars.

DOI: 10.1504/IJCVR.2010.038193

International Journal of Computational Vision and Robotics, 2010 Vol.1 No.4, pp.380 - 391

Published online: 21 Jan 2011 *

Full-text access for editors Access for subscribers Purchase this article Comment on this article