Guide Robot Based on Image Processing and Path Planning
While guide dogs remain the primary aid for visually impaired individuals, robotic guides continue to be an important area of research. This study introduces an indoor guide robot designed to physically assist a blind person by holding their hand with a robotic arm and guiding them to a specified de...
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| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/13/7/560 |
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| author | Chen-Hsien Yang Jih-Gau Juang |
| author_facet | Chen-Hsien Yang Jih-Gau Juang |
| author_sort | Chen-Hsien Yang |
| collection | DOAJ |
| description | While guide dogs remain the primary aid for visually impaired individuals, robotic guides continue to be an important area of research. This study introduces an indoor guide robot designed to physically assist a blind person by holding their hand with a robotic arm and guiding them to a specified destination. To enable hand-holding, we employed a camera combined with object detection to identify the human hand and a closed-loop control system to manage the robotic arm’s movements. For path planning, we implemented a Dueling Double Deep Q Network (D3QN) enhanced with a genetic algorithm. To address dynamic obstacles, the robot utilizes a depth camera alongside fuzzy logic to control its wheels and navigate around them. A 3D point cloud map is generated to determine the start and end points accurately. The D3QN algorithm, supplemented by variables defined using the genetic algorithm, is then used to plan the robot’s path. As a result, the robot can safely guide blind individuals to their destinations without collisions. |
| format | Article |
| id | doaj-art-cb64afc747d5445b9d591e7504ed2aa6 |
| institution | DOAJ |
| issn | 2075-1702 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-cb64afc747d5445b9d591e7504ed2aa62025-08-20T03:08:01ZengMDPI AGMachines2075-17022025-06-0113756010.3390/machines13070560Guide Robot Based on Image Processing and Path PlanningChen-Hsien Yang0Jih-Gau Juang1Department of Communications, Navigation & Control Engineering, National Taiwan Ocean University, Keelung City 202, TaiwanDepartment of Communications, Navigation & Control Engineering, National Taiwan Ocean University, Keelung City 202, TaiwanWhile guide dogs remain the primary aid for visually impaired individuals, robotic guides continue to be an important area of research. This study introduces an indoor guide robot designed to physically assist a blind person by holding their hand with a robotic arm and guiding them to a specified destination. To enable hand-holding, we employed a camera combined with object detection to identify the human hand and a closed-loop control system to manage the robotic arm’s movements. For path planning, we implemented a Dueling Double Deep Q Network (D3QN) enhanced with a genetic algorithm. To address dynamic obstacles, the robot utilizes a depth camera alongside fuzzy logic to control its wheels and navigate around them. A 3D point cloud map is generated to determine the start and end points accurately. The D3QN algorithm, supplemented by variables defined using the genetic algorithm, is then used to plan the robot’s path. As a result, the robot can safely guide blind individuals to their destinations without collisions.https://www.mdpi.com/2075-1702/13/7/560indoor guide robotpath planningimage processingfuzzy obstacle avoidance |
| spellingShingle | Chen-Hsien Yang Jih-Gau Juang Guide Robot Based on Image Processing and Path Planning Machines indoor guide robot path planning image processing fuzzy obstacle avoidance |
| title | Guide Robot Based on Image Processing and Path Planning |
| title_full | Guide Robot Based on Image Processing and Path Planning |
| title_fullStr | Guide Robot Based on Image Processing and Path Planning |
| title_full_unstemmed | Guide Robot Based on Image Processing and Path Planning |
| title_short | Guide Robot Based on Image Processing and Path Planning |
| title_sort | guide robot based on image processing and path planning |
| topic | indoor guide robot path planning image processing fuzzy obstacle avoidance |
| url | https://www.mdpi.com/2075-1702/13/7/560 |
| work_keys_str_mv | AT chenhsienyang guiderobotbasedonimageprocessingandpathplanning AT jihgaujuang guiderobotbasedonimageprocessingandpathplanning |