Vision Based Obstacle Avoidance for Mobile Robot using Optical Flow Process
Hairol Nizam Mohd Shah1, Zalina Kamis2, Mohd Fairus Abdollah3, Alias Khamis4, Mohd Shahrieel Mohd Aras5, Mohd Rizuan Baharon6, Ifwat Nor Azni7
1Hairol Nizam Mohd Shah, Department of Center for Robotics and Industrial Automation, Faculty of Electrical Engineering, University Teknikal, Malaysia.
2Zalina Kamis, Department of Center for Robotics and Industrial Automation, Faculty of Electrical Engineering, University Teknikal, Malaysia.
3Mohd Fairus Abdollah, Department of Center for Robotics and Industrial Automation, Faculty of Electrical Engineering, University Teknikal, Malaysia.
4Alias Khamis, Department of Center for Robotics and Industrial Automation, Faculty of Electrical Engineering, University Teknikal, Malaysia.
5Mohd Shahrieel Mohd Aras, Department of Center for Robotics and Industrial Automation, Faculty of Electrical Engineering, University Teknikal, Malaysia.
6Mohd Rizuan Baharon, Department of Center for Robotics and Industrial Automation, Faculty of Electrical Engineering, University Teknikal, Malaysia.
7Ifwat Nor Azni, Department of Center for Robotics and Industrial Automation, Faculty of Electrical Engineering, University Teknikal, Malaysia.
Manuscript received on 05 February 2019 | Revised Manuscript received on 12 February 2019 | Manuscript Published on 13 February 2019 | PP: 466-470 | Volume-8 Issue- 4S February 2019 | Retrieval Number: DS2910028419/2019©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open-access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The paper is discuss on develop and implement a vision based obstacle avoidance for mobile robot using optical flow process. There are four stages in this project which are image pre-processing, optical flow process, filtering, object stance measuring and obstacle avoidance. The optical flow process are an image resizing, set parameters, convert color to grayscale, Horn-Schunk method and change grayscale image to binary number. Next process is a filtering done by smoothing filter then image center will be defined. The maximum distance object from a camera has been set as 20 cm. Therefore, the decisions of the robot to move whether left or right are based on the direction of optical flow. This avoidance algorithm allows the mobile robot to avoid the obstacles which are in different shape either square or rectangular. A friendly graphical user interface (GUI) had been used to monitor the activity of mobile robot during run the systems.
Keywords: Optical Flow, Smoothing Filter, Mobile Robot, Obstacle Avoidance.
Scope of the Article: Residential, Commercial, Industrial and Public Works