Implementation Roadmap using Voronoi Diagrams for Vision-based Robot Motion

In this paper, we present a method to navigate a mobile robot using a webcam. This method determines the shortest path for the robot to transverse to its target location, while avoiding obstacles along the way. The environment is first captured as an image using a webcam. Image processing methods are then performed to identify the existence of obstacles within the environment. Using the Voronoi Diagrams VD(s) method, locations with obstacles are identified and the corresponding Voronoi cells are eliminated. From the remaining Voronoi cells, the shortest path to the goal is identified. The program is written in MATLAB with the Image Processing toolbox. The proposed method does not make use of any other type of sensor other than the webcam. Key-Words: Mobile robot, Path planning, Voronoi Diagrams, Image processing, Visual servo.