Real-Time Obstacle Avoidance Based on Floor Detection for Mobile Robots
Obstacle detection and avoidance are two main problems that demand solutions in the autonomous movement of mobile robots. To this end, the robots have been equipped with sensors and cameras. This study proposes a new method that allows mobile robots to move freely without any collision in an uncerta...
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| Format: | Article |
| Language: | English |
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Sakarya University
2020-10-01
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| Series: | Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi |
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| Online Access: | https://dergipark.org.tr/tr/download/article-file/929290 |
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| _version_ | 1850134625520713728 |
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| author | Adem Hiçdurmaz Adem Tuncer |
| author_facet | Adem Hiçdurmaz Adem Tuncer |
| author_sort | Adem Hiçdurmaz |
| collection | DOAJ |
| description | Obstacle detection and avoidance are two main problems that demand solutions in the autonomous movement of mobile robots. To this end, the robots have been equipped with sensors and cameras. This study proposes a new method that allows mobile robots to move freely without any collision in an uncertain (i.e., both static and dynamic) workspace by processing images taken using a real-time webcam. In the study, a robot was allowed to move depending on the visibility and suitability of the floor in the images. These steps were repeated for each new image and, furthermore, the images were segmented based on an adaptive threshold obtained by calculating the statistical parameters. This segmentation was aimed to separate the floor from other areas in the study. Experimental results demonstrate that the proposed method is extremely successful to separate the floor from other regions and has a low cost and flexible method for obstacle avoidance. |
| format | Article |
| id | doaj-art-fd410f733f1b48fa952cae89cfc19bfe |
| institution | OA Journals |
| issn | 2147-835X |
| language | English |
| publishDate | 2020-10-01 |
| publisher | Sakarya University |
| record_format | Article |
| series | Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi |
| spelling | doaj-art-fd410f733f1b48fa952cae89cfc19bfe2025-08-20T02:31:40ZengSakarya UniversitySakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi2147-835X2020-10-0124584585310.16984/saufenbilder.67412228Real-Time Obstacle Avoidance Based on Floor Detection for Mobile RobotsAdem Hiçdurmaz0https://orcid.org/0000-0001-7765-4529Adem Tuncer1https://orcid.org/0000-0001-7305-1886YALOVA ÜNİVERSİTESİ, FEN BİLİMLERİ ENSTİTÜSÜ, BİLGİSAYAR MÜHENDİSLİĞİ BÖLÜMÜYALOVA ÜNİVERSİTESİ, MÜHENDİSLİK FAKÜLTESİ, BİLGİSAYAR MÜHENDİSLİĞİ BÖLÜMÜObstacle detection and avoidance are two main problems that demand solutions in the autonomous movement of mobile robots. To this end, the robots have been equipped with sensors and cameras. This study proposes a new method that allows mobile robots to move freely without any collision in an uncertain (i.e., both static and dynamic) workspace by processing images taken using a real-time webcam. In the study, a robot was allowed to move depending on the visibility and suitability of the floor in the images. These steps were repeated for each new image and, furthermore, the images were segmented based on an adaptive threshold obtained by calculating the statistical parameters. This segmentation was aimed to separate the floor from other areas in the study. Experimental results demonstrate that the proposed method is extremely successful to separate the floor from other regions and has a low cost and flexible method for obstacle avoidance.https://dergipark.org.tr/tr/download/article-file/929290mobile robotobstacle avoidancefloor detectionadaptive thresholdimage segmentation |
| spellingShingle | Adem Hiçdurmaz Adem Tuncer Real-Time Obstacle Avoidance Based on Floor Detection for Mobile Robots Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi mobile robot obstacle avoidance floor detection adaptive threshold image segmentation |
| title | Real-Time Obstacle Avoidance Based on Floor Detection for Mobile Robots |
| title_full | Real-Time Obstacle Avoidance Based on Floor Detection for Mobile Robots |
| title_fullStr | Real-Time Obstacle Avoidance Based on Floor Detection for Mobile Robots |
| title_full_unstemmed | Real-Time Obstacle Avoidance Based on Floor Detection for Mobile Robots |
| title_short | Real-Time Obstacle Avoidance Based on Floor Detection for Mobile Robots |
| title_sort | real time obstacle avoidance based on floor detection for mobile robots |
| topic | mobile robot obstacle avoidance floor detection adaptive threshold image segmentation |
| url | https://dergipark.org.tr/tr/download/article-file/929290 |
| work_keys_str_mv | AT ademhicdurmaz realtimeobstacleavoidancebasedonfloordetectionformobilerobots AT ademtuncer realtimeobstacleavoidancebasedonfloordetectionformobilerobots |