Path Following Unit based on Digital Image Processing

摘要

This paper describes a novel algorithm for tracking a path for a robot (any contrasting colors) with the information related to steering decision obtained from the images of the path by analyzing the images using MATLAB Image Processing Toolbox. A CMOS camera is mounted on the robot which captures the video of the path ahead in real time. The images are captured using MATLAB Image Acquisition Toolbox by triggering frames from a video in real time and applying the algorithm on these frames. Based on this, the steering decision is taken. The sensor based Path followers have certain limitations like choice of sensor selection depending on colors, dependence on the dimensions of path and lighting conditions which this project proposes to overcome. For this proposed system, various preprocessing tools like histogram equalization and morphological operations will be extensively used. Path Following Unit based on Digital Image Processing Sharmad Nachnolkar “Padma-Kunj”, Plot No E-35, Ganeshpuri, Housing Board, Mapusa , Goa Noel Da Gama Pais Vivenda Gama Pais, Moira, Bardez, Goa Mandar Subhash Phadate 26/A Sairaj Park, Shantinagar, Ponda, Goa