Agile reactive navigation for a non‐holonomic mobile robot using a pixel processor array
Abstract This paper presents an agile reactive navigation strategy for driving a non‐holonomic ground vehicle around a pre‐set course of gates in a cluttered environment using a low‐cost processor array sensor. This enables machine vision tasks to be performed directly upon the sensor's image p...
| Main Authors: | , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-07-01
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| Series: | IET Image Processing |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/ipr2.12158 |
| _version_ | 1828147419371536384 |
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| author | Yanan Liu Laurie Bose Colin Greatwood Jianing Chen Rui Fan Thomas Richardson Stephen J. Carey Piotr Dudek Walterio Mayol‐Cuevas |
| author_facet | Yanan Liu Laurie Bose Colin Greatwood Jianing Chen Rui Fan Thomas Richardson Stephen J. Carey Piotr Dudek Walterio Mayol‐Cuevas |
| author_sort | Yanan Liu |
| collection | DOAJ |
| description | Abstract This paper presents an agile reactive navigation strategy for driving a non‐holonomic ground vehicle around a pre‐set course of gates in a cluttered environment using a low‐cost processor array sensor. This enables machine vision tasks to be performed directly upon the sensor's image plane, rather than using a separate general‐purpose computer. The authors demonstrate a small ground vehicle running through or avoiding multiple gates at high speed using minimal computational resources. To achieve this, target tracking algorithms are developed for the Pixel Processing Array and captured images are then processed directly on the vision sensor acquiring target information for controlling the ground vehicle. The algorithm can run at up to 2000 fps outdoors and 200 fps at indoor illumination levels. Conducting image processing at the sensor level avoids the bottleneck of image transfer encountered in conventional sensors. The real‐time performance of on‐board image processing and robustness is validated through experiments. Experimental results demonstrate the algorithm's ability to enable a ground vehicle to navigate at an average speed of 2.20 m/s for passing through multiple gates and 3.88 m/s for a ‘slalom’ task in an environment featuring significant visual clutter. |
| first_indexed | 2024-04-11T21:00:40Z |
| format | Article |
| id | doaj.art-fb39d29c6bb4464d8f2e614c4991eb96 |
| institution | Directory Open Access Journal |
| issn | 1751-9659 1751-9667 |
| language | English |
| last_indexed | 2024-04-11T21:00:40Z |
| publishDate | 2021-07-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Image Processing |
| spelling | doaj.art-fb39d29c6bb4464d8f2e614c4991eb962022-12-22T04:03:32ZengWileyIET Image Processing1751-96591751-96672021-07-011591883189210.1049/ipr2.12158Agile reactive navigation for a non‐holonomic mobile robot using a pixel processor arrayYanan Liu0Laurie Bose1Colin Greatwood2Jianing Chen3Rui Fan4Thomas Richardson5Stephen J. Carey6Piotr Dudek7Walterio Mayol‐Cuevas8Bristol Robotics Laboratory The University of Bristol Bristol UKVisual Information Laboratory The University of Bristol Bristol UKBristol Robotics Laboratory The University of Bristol Bristol UKDepartment of Electrical and Electronic Engineering The University of Manchester Manchester UKThe Department of Computer Science and Engineering & The Department of Ophthalmology The University of California San Diego California USABristol Robotics Laboratory The University of Bristol Bristol UKDepartment of Electrical and Electronic Engineering The University of Manchester Manchester UKDepartment of Electrical and Electronic Engineering The University of Manchester Manchester UKVisual Information Laboratory The University of Bristol Bristol UKAbstract This paper presents an agile reactive navigation strategy for driving a non‐holonomic ground vehicle around a pre‐set course of gates in a cluttered environment using a low‐cost processor array sensor. This enables machine vision tasks to be performed directly upon the sensor's image plane, rather than using a separate general‐purpose computer. The authors demonstrate a small ground vehicle running through or avoiding multiple gates at high speed using minimal computational resources. To achieve this, target tracking algorithms are developed for the Pixel Processing Array and captured images are then processed directly on the vision sensor acquiring target information for controlling the ground vehicle. The algorithm can run at up to 2000 fps outdoors and 200 fps at indoor illumination levels. Conducting image processing at the sensor level avoids the bottleneck of image transfer encountered in conventional sensors. The real‐time performance of on‐board image processing and robustness is validated through experiments. Experimental results demonstrate the algorithm's ability to enable a ground vehicle to navigate at an average speed of 2.20 m/s for passing through multiple gates and 3.88 m/s for a ‘slalom’ task in an environment featuring significant visual clutter.https://doi.org/10.1049/ipr2.12158Optical, image and video signal processingSpatial variables controlTransportation system controlMobile robotsTeleroboticsComputer vision and image processing techniques |
| spellingShingle | Yanan Liu Laurie Bose Colin Greatwood Jianing Chen Rui Fan Thomas Richardson Stephen J. Carey Piotr Dudek Walterio Mayol‐Cuevas Agile reactive navigation for a non‐holonomic mobile robot using a pixel processor array IET Image Processing Optical, image and video signal processing Spatial variables control Transportation system control Mobile robots Telerobotics Computer vision and image processing techniques |
| title | Agile reactive navigation for a non‐holonomic mobile robot using a pixel processor array |
| title_full | Agile reactive navigation for a non‐holonomic mobile robot using a pixel processor array |
| title_fullStr | Agile reactive navigation for a non‐holonomic mobile robot using a pixel processor array |
| title_full_unstemmed | Agile reactive navigation for a non‐holonomic mobile robot using a pixel processor array |
| title_short | Agile reactive navigation for a non‐holonomic mobile robot using a pixel processor array |
| title_sort | agile reactive navigation for a non holonomic mobile robot using a pixel processor array |
| topic | Optical, image and video signal processing Spatial variables control Transportation system control Mobile robots Telerobotics Computer vision and image processing techniques |
| url | https://doi.org/10.1049/ipr2.12158 |
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