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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics
Edwar Jacinto
Universidad Distrital Francisco José de Caldas
Computer Science & IT Electrical & Electronics Engineering

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Journal : International Journal of Electrical and Computer Engineering

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Obstacle detection for autonomous systems using stereoscopic images and bacterial behaviour Fredy Martinez; Edwar Jacinto; Fernando Martinez
International Journal of Electrical and Computer Engineering (IJECE) Vol 10, No 2: April 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1240.044 KB) | DOI: 10.11591/ijece.v10i2.pp2164-2172

Abstract

This paper presents a low cost strategy for real-time estimation of the position of obstacles in an unknown environment for autonomous robots. The strategy was intended for use in autonomous service robots, which navigate in unknown and dynamic indoor environments. In addition to human interaction, these environments are characterized by a design created for the human being, which is why our developments seek morphological and functional similarity equivalent to the human model. We use a pair of cameras on our robot to achieve a stereoscopic vision of the environment, and we analyze this information to determine the distance to obstacles using an algorithm that mimics bacterial behavior. The algorithm was evaluated on our robotic platform demonstrating high performance in the location of obstacles and real-time operation.
Co-Authors Fernando Martinez Fredy Martinez Holman Montiel