Autonomous Navigation of Mobile Robot Using Kinect Sensor

摘要

The problem of achieving real time process in depth camera application, in particular when used for indoor mobile robot localization and navigation is far from being solved. Thus, this paper presents autonomous navigation of the mobile robot by using Kinect sensor. By using Microsoft Kinect XBOX 360 as the main sensor, the robot is expected to navigate and avoid obstacles safely. By using depth data, 3D point clouds, filtering and clustering process, the Kinect sensor is expected to be able to differentiate the obstacles and the path in order to navigate safely. Therefore, this research requirement to propose a creation of low-cost autonomous mobile robot that can be navigated safely.