Title: Visual perception-based motion planning using road map

Authors: Pradipta Kumar Das, Amit Konar, Romesh Laishram

Addresses: Dhaneswar Rath Institute of Engineering and Management Studies, Tangi, Cuttack, Orissa – 754022, India. ' Department of Electronics and Tele-communication Engineering, Jadavpur University, Kolkata – 700032, India. ' Manipur Institute of Technology, Imphal, Manipur – 795001, India

Abstract: In this paper, a new method of road map-based navigation is proposed. A vision-based motion planning of a mobile robot is implemented in a predefined road map. Road map is build with the left and right lane at the junction constructed with 90° with respect to the main lane. In our realisation, the robot moves towards a junction and at each junction takes a photograph of the road sign map and an image matching algorithm is performed at the host machine to compare the captured image with the map stored in the memory and decide the next course of action.

Keywords: road signs; image matching; fuzzy moment descriptors; motion planning; Khepera II; road maps; mobile robots; robot navigation; computational vision; robot vision.

DOI: 10.1504/IJCVR.2010.038197

International Journal of Computational Vision and Robotics, 2010 Vol.1 No.4, pp.430 - 440

Published online: 21 Jan 2011 *

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