This paper describes a realtime omnidirectional stereo system and its application to obstacle detection and tracking for a mobile robot. The stereo system uses two omnidirectional cameras aligned vertically. The images from the cameras are converted into panoramic images, which are then examined for stereo matching along vertical epipolar lines. A PC cluster system composed of 6 PCs can generat...

The interior of a cell is very crowded (up to 35% protein by weight), with significant consequences for diffusive transport. The possible trajectories of a given tracer particle are constrained by the labyrinth of obstacles. For a static obstacle configuration, a percolation transition takes place at a certain critical obstacle density, so that above this density no long-range transport is poss...

This paper describes an active and purposive approach to vision in order to implement a fundamental ability required for robotic navigation: obstacle avoidance. It employs properties of a sparse optical flow field that is produced if the robot moves on a locally planar ground plane. By separating obstacle flow from ground plane flow, obstacles can be detected and measurements of their distance,...

This study proposes an obstacle detection method that uses depth information to allow the visually impaired to avoid obstacles when they move in an unfamiliar environment. The system is composed of three parts: scene detection, obstacle detection and a vocal announcement. This study proposes a new method to remove the ground plane that overcomes the over-segmentation problem. This system addres...

A blunt obstacle in the path of a rapid granular avalanche generates bow shock (a jump thickness and velocity), region static grains upstream obstacle, grain-free downstream. Here, it is shown that this interaction qualitatively altered if incline on which flowing changed from smooth to rough. On rough incline, friction between depends flow speed, allows both (supercritical) slow (subcritical) ...

In the first part of the present paper, a multi-robot system can be highly beneficial for exploration, which is a core robotics task. We know that this exploration task is best performed when using a multi-robot system. We present an algorithm for multi-robot exploration of an unidentified environment, placing into account the communication constraints between the robots. A novel communication ...

Density or gravity currents have been always one of the main causes for sedimentation along many of the dam reservoirs. So controlling this phenomenon is very important for increasing useful life of such reservoirs. In this research study the effect of a combination of rough bed and obstacle on the control of sedimentary density current has been investigated. Experiments were conducted in a til...

Given the a priori knowledge of the environment and the goal position, mobile robot navigation refers to the robot’s ability to safely move towards the goal using its knowledge and the sensorial information of the surrounding environment. Even though there are many different ways to approach navigation, most of them share a set of common components or blocks, among which path planning and obsta...

To find an optimal path for robots in an environment that is only partially known and continuously changing is a difficult problem. This paper presents a new method for generating a collision-free near-optimal path for an autonomous mobile robot in a dynamic environment containing moving and static obstacles using neural network and fuzzy logic with genetic algorithm. The mobile robot selects a...

In today’s world safety and security plays an important role, hence we tend to provide a good safety and security system while travelling. Vehicles are important in today’s fast-paced society. Hence, acquiring a vehicle nowadays is considered a necessity, compared to the past where it was considered a luxury. In this thriving society, more and more vehicles are produced to meet the increasing d...