Navigation of a robot car using image and distance information

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Dr. Horváth Gábor
Department of Measurement and Information Systems

In my dissertation I use a mobil robot to mapping and path planning , the vehicle is navigated by the extracted information from the received pictures and the distance sensors. The moving vehicle is the MITMOT car, which was developed by Budapest University of Technology and Economics Department of Measurement and Information Systems, the image capturing device is a Sony Ericsson Xperia X8 smartphone. The distance measurement happen by the ultrasonic sensorcard of the MITMOT system.

In the first chapter I give a general description about robot mapping and localization, and I demonstrate the history of the autonomic vechile’s development.

In the second part of paper I present the most commonly used sensor systems in the robot mapping, then I expound the MITMOT system, the used smartphone, and the communicaton network between the applied devices.

In the third section I examine the history and the development of robot mapping, I describe the image processing methods, which have to use to generte maps from pictures, then I present the developed mapping algorithm.

In the fourth chapter I describe the vision-based and map-based mobil robot navigation algortihms, and I demonstrate the operation of my own navigation application.

At the end of my dissertation I summarize the work which was performed during the project and I take a look at the opportunities of the future improvement.


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