{"title":"Robotic Visual-Based Navigation Structures Using Lucas-Kanade and Horn-Schunck Algorithms of Optical Flow","authors":"Abdelfattah Elasri, Lakhmissi Cherroun, Mohamed Nadour","doi":"10.1007/s40998-024-00722-0","DOIUrl":null,"url":null,"abstract":"<p>This paper aims to present vision-based navigation structures for a wheeled mobile robot using optical flow techniques. The two algorithms of the differential approach are examined and investigated for visual motion in unknown static and dynamic indoor environments. Horn-Schunck (HS) and Lucas-Kanade (LK) algorithms of the optical flow (OF) technique are employed to extract information about the environment surrounding the controlled robot by an installed color camera on the robot platform. Obstacles and objects are identified and detected based on image processing and video acquisition steps for the different tasks of mobile robots: navigation of one robot with static obstacle avoidance, navigation with dynamic obstacle avoidance, and multi-robot navigation with a static obstacle. The proposed control structures are based on motion estimation and decision mechanisms that use the necessary measured variables calculated by optical flow algorithms to carry out the appropriate steering actions to guide autonomously the robot in its workspace. The efficiency of the proposed control structures is tested in 2D and 3D environments using the Virtual Reality Modeling Language (VRML) Toolbox of Matlab. The obtained simulation results are discussed and investigated, and they will be compared to demonstrate the autonomous navigation of mobile robots without any collision with obstacles for these visual-based navigation systems.</p>","PeriodicalId":49064,"journal":{"name":"Iranian Journal of Science and Technology-Transactions of Electrical Engineering","volume":null,"pages":null},"PeriodicalIF":1.5000,"publicationDate":"2024-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Iranian Journal of Science and Technology-Transactions of Electrical Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1007/s40998-024-00722-0","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
引用次数: 0
Abstract
This paper aims to present vision-based navigation structures for a wheeled mobile robot using optical flow techniques. The two algorithms of the differential approach are examined and investigated for visual motion in unknown static and dynamic indoor environments. Horn-Schunck (HS) and Lucas-Kanade (LK) algorithms of the optical flow (OF) technique are employed to extract information about the environment surrounding the controlled robot by an installed color camera on the robot platform. Obstacles and objects are identified and detected based on image processing and video acquisition steps for the different tasks of mobile robots: navigation of one robot with static obstacle avoidance, navigation with dynamic obstacle avoidance, and multi-robot navigation with a static obstacle. The proposed control structures are based on motion estimation and decision mechanisms that use the necessary measured variables calculated by optical flow algorithms to carry out the appropriate steering actions to guide autonomously the robot in its workspace. The efficiency of the proposed control structures is tested in 2D and 3D environments using the Virtual Reality Modeling Language (VRML) Toolbox of Matlab. The obtained simulation results are discussed and investigated, and they will be compared to demonstrate the autonomous navigation of mobile robots without any collision with obstacles for these visual-based navigation systems.
期刊介绍：
Transactions of Electrical Engineering is to foster the growth of scientific research in all branches of electrical engineering and its related grounds and to provide a medium by means of which the fruits of these researches may be brought to the attentionof the world’s scientific communities.
The journal has the focus on the frontier topics in the theoretical, mathematical, numerical, experimental and scientific developments in electrical engineering as well
as applications of established techniques to new domains in various electical engineering disciplines such as:
Bio electric, Bio mechanics, Bio instrument, Microwaves, Wave Propagation, Communication Theory, Channel Estimation, radar & sonar system, Signal Processing, image processing, Artificial Neural Networks, Data Mining and Machine Learning, Fuzzy Logic and Systems, Fuzzy Control, Optimal & Robust ControlNavigation & Estimation Theory, Power Electronics & Drives, Power Generation & Management The editors will welcome papers from all professors and researchers from universities, research centers,
organizations, companies and industries from all over the world in the hope that this will advance the scientific standards of the journal and provide a channel of communication between Iranian Scholars and their colleague in other parts of the world.
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