Unoccupied Floor Extraction in Autonomous Mobile Robot Navigation

Abstract

Abstract

Considering the today’s atomization need, autonomous mobile robot navigation and arena exploration becomes most substantial research area. The majority of navigational issues are robot localization, on floor objects localization, deciding strategy for navigation. This paper address the method used to explore empty floor detection implemented on raspberry pi 3 which assistances autonomous mobile robot in terms of localization during safe navigation. The literature shows most of the localization algorithms uses grid based arena dividing technique. The explored unoccupied floor map can use for mobile robot path planning and navigation. the method is realized on raspberry pi 3 board using python 2.7 as a programming language and OpenCV library with Ubuntu Mate operating system. The outcome of the method is time and memory efficient compares to other methods and can be utilized for dynamic environment.

Keywords: Unoccupied floor extraction, obstacle detection and localization, Memory efficient SLAM, Computation efficient SLAM, Divide and merge algorithm, Mobile robot path planning and Navigation, Centralized ceiling mounted vision system

Cite this ArticleRahul Shivaji Pol, B Sheela Rani, M. Murugan. Unoccupied Floor Extraction in Autonomous Mobile Robot Navigation. Journal of Electronic Design and Technology.