Designing and Constructing an Autonomous Mobile Robot with Vision Based System for Navigation in Outdoor Environment
Brilly Brilly, Rusman Rusyadi, Leonard P. Rusli · 2015
The purpose of this thesis is to design and construct an autonomous mobile robot with vision based system for outdoor navigation. To navigate the system, lines are extracted from the environment by using canny edge detector and Houghline transform from OpenCV. Then extracted lines are processed to locate the vanishing point and the road angle. A low pass filter is then applied to make a better detection of vanishing point. The robot is tested to run in several outdoor conditions such as asphalt road and pedestrian road to follow the detected vanishing point. By implementing Simple Blob Detector from OpenCV and ultrasonic sensor module, the position of the obstacle in front of the robot is detected. From the tests, the robot can avoid the obstacle while following the heading of the road in outdoor environment.