Year 2017, Volume 5 , Issue 2, Pages 73 - 76 2017-09-01

An Object Detection and Identification System for a Mobile Robot Control

Musa AYDIN [1] , Gökhan ERDEMİR [2]


The one of the features of mobile robot control is to detect and to identify objects in workspace. Especially, autonomous systems must detect obstacles and then revise actual trajectories according to new conditions. Hence, many solutions and approaches can be found in literature. Different sensors and cameras are used to solve problem by many researchers. Different type sensors usage can affect not only system performance but also operational cost. In this study, single camera based obstacle detection and identification algorithm was developed to control omni-drive mobile robot systems. Objects and obstacles, which are in robot view, are detected and identified their coordinates by using developed algorithms dynamically. Developed algorithm was tested on Festo Robotino mobile robot. Proposed approach offers not only cost efficiency but also short process time. 

Mobile robot control, object detection, robotino;
  • [1] G.N. DeSouza, A.C. Kak, “Vision for Mobile Robot Navigation: A Survey”, IEEE Transaction on Pattern Analysis and Machine Intelligence, Vol. 24, No. 2, pp. 237-267, 2002.
  • [2] A. Kroll, S.Soldan, "Survey Results on Status, Needs and Perspectives for using Mobile Service Robots in Industrial Applications", 11th International Conference on Control, Automation, Robotics and Vision, pp. 621-626, December 7-10, 2010, Singapore.
  • [3] H. Takai, M. Miyake, K. Okuda, K. Tachibana,”A Simple Obstacle Arrangement Detection Algorithm for Indoor Mobile Robots”, 2nd International Asia Conference on Informatics in Control, Automation and Robotics, pp.110 – 113, Mar 6 - 7, 2010, Wuhan, China.
  • [4] J. Zhu, Y. Wang, H. Yu, Haixia Xu, Y. Shi, “Obstacle Detection and Recognition in Natural Terrain for Field Mobile Robot Navigation”, the 8th World Congress on Intelligent Control and Automation, pp. 6567 – 6572, July 6-9 2010, Jinan, China.
  • [5] T. Gandhi, M.T. Yang, R. Kasturi, O. I. Camps, L. D. Coraor, J. McCandless, “Performance Characterization of the Dynamic Programming Obstacle Detection Algorithm“, IEEE Transactions on Image Processing, Vol. 15, No. 5,pp.1202-1214 , MAY 2006.
  • [6] N. Morales, J.T. Toledo, L. Acosta, R. Arnay, “Real-Time Adaptive Obstacle Detection Based on Image Database”, Computer Vision and Image Understanding, Vol. 115, pp. 1273-1287, 2011.
  • [7] A.S. Karakaya, G. Küçükyıldız, H. Ocak, Z. Bingül, “Mobil Robot Platformu Üzerinde Engel Algılanması ve Optimal Yönün Belirlenmesi”, 20th Signal Processing and Communications Applications Conference (SIU), pp. 1-4, April 18-20, 2012, Mugla, Turkey.
  • [8] A.Talukder, R. Manduchi, A. Rankin, L. Matthies, “Fast and Reliable Obstacle Detection and Segmentation for Cross-country Navigation”, IEEE Intelligent Vehicle Symposium,Vol.2, pp. 610-618, June 17-21, 2002, Versailles, France.
  • [9] U. A. Khan, A. Fasih, K. Kyamakya, J. C. Chedjou, “Genetic Algorithm Based Template Optimization for a Vision System: Obstacle Detection”, XV International Symposium on Theoretical Engineering (ISTET), pp. 164-168, June 22-24, 2009, Lübeck, Germany.
  • [10] L. Liu, J. Cuib, J. Li “Obstacle Detection and Classification in Dynamical Background”, AASRI Conference on Computational Intelligence and Bioinformatics, pp. 435 – 440, July 1-2, 2012, Changsha, China.
  • [11] Z. Yankun, H. Chuyang, W., Norman, “A Single Camera Based Rear Obstacle Detection System”, IEEE Intelligent Vehicles Symposium (IV), pp.485-490, June 5-9, 2011, Baden-Baden, Germany.
  • [12] A.R. Derhgawen, D. Ghose, “Vision Based Obstacle Detection using 3D HSV Histograms”, Annual IEEE India Conference (INDICON),pp.1-4, December 16-18, 2011, Hyderabad, India.
  • [13] Y.C. Lin, C.T. Lin , W.C. Liu, L.T. Chen, “A Vision-Based Obstacle Detection System for Parking Assistance”, 8th IEEE Conference on Industrial Electronics and Applications (ICIEA), pp. 1627 – 1630, June 19-21, 2013, Melbourne, Australia.
  • [14] S. Das, I. Banerjee, T. Samanta, “Sensor Localization and Obstacle Boundary Detection Algorithm in WSN”, Third International Conference on Advances in Computing and Communications, pp. 412 – 415, August 29-31, 2013, Kochi, Kerala, India.
  • [15] S. E. Oltean, M. Dulau and R. Puskas, “Position Control of Robotino Mobile Robot Using Fuzzy Logic”, IEEE Int. Conf. on Automation Quality and Testing Robotics (AQTR), Cluj-Napoca, Romania, May 28 – 30, 2010.
  • [16] Festo Robotino Manual, 2010.
  • [17] http://www.openrobotino.org/ (Erişim Tarihi Ocak 2014).
  • [18] T. Lindeberg, "Detecting Salient Blob-Like Image Structures and Their Scales with a Scale-Space Primal Sketch: A Method for Focus-of-Attention", International Journal of Computer Vision Vol.11, No. 3,, pp 283–318, 1993.
Journal Section Araştırma Articlessi
Authors

Orcid: http://orcid.org/0000-0002-3241-4297
Author: Musa AYDIN
Country: Turkey


Orcid: http://orcid.org/0000-0003-4095-6333
Author: Gökhan ERDEMİR
Country: Turkey


Dates

Publication Date : September 1, 2017

Bibtex @research article { bajece336480, journal = {Balkan Journal of Electrical and Computer Engineering}, issn = {2147-284X}, address = {}, publisher = {Balkan Yayın}, year = {2017}, volume = {5}, pages = {73 - 76}, doi = {10.17694/bajece.336480}, title = {An Object Detection and Identification System for a Mobile Robot Control}, key = {cite}, author = {Aydın, Musa and Erdemir, Gökhan} }
APA Aydın, M , Erdemir, G . (2017). An Object Detection and Identification System for a Mobile Robot Control . Balkan Journal of Electrical and Computer Engineering , 5 (2) , 73-76 . DOI: 10.17694/bajece.336480
MLA Aydın, M , Erdemir, G . "An Object Detection and Identification System for a Mobile Robot Control" . Balkan Journal of Electrical and Computer Engineering 5 (2017 ): 73-76 <https://dergipark.org.tr/en/pub/bajece/issue/36585/336480>
Chicago Aydın, M , Erdemir, G . "An Object Detection and Identification System for a Mobile Robot Control". Balkan Journal of Electrical and Computer Engineering 5 (2017 ): 73-76
RIS TY - JOUR T1 - An Object Detection and Identification System for a Mobile Robot Control AU - Musa Aydın , Gökhan Erdemir Y1 - 2017 PY - 2017 N1 - doi: 10.17694/bajece.336480 DO - 10.17694/bajece.336480 T2 - Balkan Journal of Electrical and Computer Engineering JF - Journal JO - JOR SP - 73 EP - 76 VL - 5 IS - 2 SN - 2147-284X- M3 - doi: 10.17694/bajece.336480 UR - https://doi.org/10.17694/bajece.336480 Y2 - 2017 ER -
EndNote %0 Balkan Journal of Electrical and Computer Engineering An Object Detection and Identification System for a Mobile Robot Control %A Musa Aydın , Gökhan Erdemir %T An Object Detection and Identification System for a Mobile Robot Control %D 2017 %J Balkan Journal of Electrical and Computer Engineering %P 2147-284X- %V 5 %N 2 %R doi: 10.17694/bajece.336480 %U 10.17694/bajece.336480
ISNAD Aydın, Musa , Erdemir, Gökhan . "An Object Detection and Identification System for a Mobile Robot Control". Balkan Journal of Electrical and Computer Engineering 5 / 2 (September 2017): 73-76 . https://doi.org/10.17694/bajece.336480
AMA Aydın M , Erdemir G . An Object Detection and Identification System for a Mobile Robot Control. Balkan Journal of Electrical and Computer Engineering. 2017; 5(2): 73-76.
Vancouver Aydın M , Erdemir G . An Object Detection and Identification System for a Mobile Robot Control. Balkan Journal of Electrical and Computer Engineering. 2017; 5(2): 73-76.
IEEE M. Aydın and G. Erdemir , "An Object Detection and Identification System for a Mobile Robot Control", Balkan Journal of Electrical and Computer Engineering, vol. 5, no. 2, pp. 73-76, Sep. 2017, doi:10.17694/bajece.336480