Multi-hop path tracing of mobile robot with multi-range image

Ramakanta Choudhury; Chandrakanta Samal; Umakanta Choudhury

doi:10.1117/12.856309

26 February 2010 Multi-hop path tracing of mobile robot with multi-range image

Ramakanta Choudhury, Chandrakanta Samal, Umakanta Choudhury

Proceedings Volume 7546, Second International Conference on Digital Image Processing; 75462T (2010) https://doi.org/10.1117/12.856309
Event: Second International Conference on Digital Image Processing, 2010, Singapore, Singapore

Abstract

It is well known that image processing depends heavily upon image representation technique . This paper intends to find out the optimal path of mobile robots for a specified area where obstacles are predefined as well as modified. Here the optimal path is represented by using the Quad tree method. Since there has been rising interest in the use of quad tree, we have tried to use the successive subdivision of images into quadrants from which the quad tree is developed. In the quad tree, obstacles-free area and the partial filled area are represented with different notations. After development of quad tree the algorithm is used to find the optimal path by employing neighbor finding technique, with a view to move the robot from the source to destination. The algorithm, here , permeates through the entire tree, and tries to locate the common ancestor for computation. The computation and the algorithm, aim at easing the ability of the robot to trace the optimal path with the help of adjacencies between the neighboring nodes as well as determining such adjacencies in the horizontal, vertical and diagonal directions. In this paper efforts have been made to determine the movement of the adjacent block in the quad tree and to detect the transition between the blocks equal size and finally generate the result.

Citation Download Citation

Ramakanta Choudhury, Chandrakanta Samal, and Umakanta Choudhury "Multi-hop path tracing of mobile robot with multi-range image", Proc. SPIE 7546, Second International Conference on Digital Image Processing, 75462T (26 February 2010); https://doi.org/10.1117/12.856309

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KEYWORDS

Mobile robots

Algorithm development

Free space

Image processing

Mirrors

Image analysis

Raster graphics

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