Bird's Eye Navigation (BEN) - A Pixelwise Mapping System Used in Swarming of Vehicular Robots
Sandipan Chakraborty, Shouvik Mukherjee, Barnamoy Garang, Suvrojit Kumar Saha, Himadri Nath Saha · 2019
BEN is a smart system which is based on the combination of Computer Vision, Image Processing and Drone. BEN is also applicable for Indoor System Navigation. This system can differentiate between objects even if they are very close to each other, especially at a certain location where GPS Navigation fails to serve the purpose. As the drone hovers above a certain location at a particular altitude, the camera installed on the drone can take the video footage from that height and upload it to the server where further analysis is done. In the server, it is pre-programmed in such a way that it will be able to track the robots' positions and the individual targets with high accuracy. As per the algorithm used, the co- ordinate pixels of the robots enable the server to understand distance between them. The video footage is taken and the corresponding analysis is done in real time. BEN also calculates the angle between them in order to rotate them along a certain angle to make the robots face each other in a desired position. After initializing the targets, BEN finds the smallest distance between the robots and their individual targets. After that, it creates a smallest possible path between the nearest robot and their corresponding target. Now the ground-based robots follow that specific path and reach the target's position. If it detects anything suspicious, the other robots are called to reach that particular location. Then these robots will again follow the smallest possible path to get to that destination. This entire tracking system is based on the `OpenCV Boosting Tracking Algorithm'. For each and every rotation or movement made by the robots, their new position and the angle of rotation is checked using a magnetometer. As a whole, we will be able to locate all the ground-based robots and guide them to reach their corresponding nearby targets using the eyes of the system named as `BEN'.