Multi-Robot Visual Navigation Structure based on Lukas-Kanade Algorithm

Abstract

This paper presents an efficient control structure of two mobile robots based-visual navigation methods in an indoor environment. The proposed navigators are based on decision systems employed the necessary values estimated by a Lukas-Kanade (LK) algorithm of optical flow (OF) approach. The robots control systems use the generated motion values in order to detect and estimate the positions of the nearest obstacles and objects around each mobile robot. The multi-robot system task is to navigate autonomously in their environment safely without collisions. Obstacles are identified and detected with the employed cameras of each robot based on video acquisition and image processing steps. The efficiency of the proposed approach is verified in simulation using Visual Reality Toolbox. Simulation results demonstrate that the visual based control system allows autonomous navigation without any collision with obstacles..