The Mobile Robot Obstacle Avoidance and Vision-Based Navigation Employing a Single Camera and Ultrasonic Range Finders

The focus of this study is on employing a stereo camera to identify and avoid obstacles in a chaotic setting so that mobile robots may navigate autonomously. a) Precise determination of Robot location and orientation; b) For mobile robots to navigate autonomously, they need to be able to accurately identify the size, shape, dimension, and variety of potential barriers in the environment. The mobile robot employs a simple kinematic model, and for long-range operations, a stereo camera equipped with a pan and tilt mechanism is being investigated. This study details a vision-based navigation strategy for a self-driving robot that can avoid obstacles while moving through an interior environment. A model-based visual system is used for the robot's self-localization, and a retroactively position correction technology enables continuous navigation. Single-camera vision is used to avoid immovable barriers, while ultrasonic sensors identify and avoid dynamic ones.