Teyvonia Thomas - Final Project - Spring 2011

Vision-based Obstacle Detection and Path Planning for the iRobot Create using an Android-powered Smartphone
by Teyvonia Thomas

Recent advances in mobile communication devices and cloud based technologies have expanded the realm of possibilities for personal robotic applications. This project integrates some of these technologies along with key components in robot navigation - object detection and path planning. The goal of this project is to plan optimal (or near-optimal) paths for the iRobot Create in an environment cluttered with obstacles using a smartphone. In this scope, optimal is defined as the shortest collision-free path between two points. The standard A-Star search algorithm is used to plan these paths. RGB thresholding and connected components labeling are used to detect and segment obstacles, the boundaries of the environment and the door posts. Finally a path following controller which runs on the smartphone drives the robot from its initial to final position.

For More Information:
https://alliance.seas.upenn.edu/~meam620/wiki/index.php?n=TeyvoniaThomas2011....


http://www.meam620.info

Category:

Science & Technology

Tags:

• Teyvonia Thomas
• meam620
• irobot create
• android
• robot
• upenn
• grasp lab