Autonomous Path Following

By Andrey Zhdanov and Dan Feldman

Main Objectives

The robot should be able to follow the path autonomously

The robot should be able to detect the presence of path

Assumptions

Assumptions

Planar floor No obstacles, clutter Homogeneous floor, path

Algorithm

Motivation – Geodesic Active Contours

Implementation – Graph Cuts

Algorithm Overview

Image acquisition Color to Greyscale conversion Edge detection Inverse projective transformation Segmentation Driving instructions

Averaging vs PCA – RGB channels

Averaging vs PCA

Calibration

Algorithm Stages

Algorithm Stages – cont.

Algorithm Stages – contd.

Technical problems

Lack of precision of robot control Communication