Development of an image processing system for a special purpose mobile robot navigation

Abstract

In this study, a complete image processing and analysis system is developed for a special purpose mobile robot. The aim of this mobile robot is to recognize open doors and move through the open door with narrow clearance. The output of image processing is used as input data file to a neural network (NN) based pattern recognition software. The NN inform the greater system about the existence of a door. Further process is to interpret the door status by using some knowledge based algorithms. If the door is open, next process determines position of the mobile robot with respect to the open door. This paper includes related image processing algorithms for image analysis stages. Selection criteria and modification algorithms of the implemented algorithms are presented to some extend. Some test results are also presented.