Vision Based Autonomous Robot Navigation: Algorithms and Implementations (Studies in Computational Intelligence, Band 455) - Softcover

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Dr. Kaushik Das Sharma received the B.Tech. and M.Tech. degrees in Electrical Engineering from Department of Applied Physics, University of Calcutta, Kolkata, India, in 2001, 2004 respectively and Ph.D. degree from Jadavpur University, Kolkata, India, in 2012. He is currently serving as an Associate Professor in Electrical Engineering Section of Department of Applied Physics, University of Calcutta, Kolkata, India. He is a recipient of the Kanodia Research Scholarship in 2002 and University Gold Medal in 2004 from University of Calcutta. Dr. Das Sharma's key research interests include fuzzy control, stochastic optimization, machine learning, robotics and systems biology. He has authored/coauthored about 45 technical articles, including 20 international journal papers. Dr. Das Sharma is a Senior Member of the IEEE (USA), Member of the IET (UK) and a Life Member of Indian Science Congress Association. He has served/is serving in important positions in several International Conference Committees all over the world. Presently he also serves as Secretary of IEEE Joint CSS-IMS Kolkata Chapter, an Executive Committee Members of IEEE Kolkata Section and IET (UK) Kolkata Local Network. Amitava Chatterjee did his BEE, MEE and PhD from Electrical Engineering Department of Jadavpur University, Kolkata, in 1991, 1994 and 2002, respectively. He is currently serving as a Professor in Electrical Engineering Department of Jadavpur University, Kolkata, India. He is a recipient of the Japanese Government (Monbukagakusho) Scholarship in 2003 and a recipient of the Japan Society for the Promotion of Science (JSPS) Post-Doctoral Fellowship in 2004. In 2004, and in 2009 he visited University of Paris XII, Val de Marne, France, and in 2017 he visited University of Paris-Est, France as an Invited Teacher. Dr. Chatterjee's key research interests includenonlinear control, intelligent instrumentation, signal processing, computer vision, robotics, image processing and pattern recognition. Dr. Chatterjee has co-authored a book and co-edited two books all published by Springer-Verlag, Germany. He presently serves as an Editor of IEEE Transactions on Vehicular Technology and Engineering Applications of Artificial Intelligence Journal (Elsevier) and as an Associate Editor of IEEE Transactions on Instrumentation and Measurement, and IEEE Sensors Journal. He has authored/coauthored more than 145 technical articles, including 90 international journal papers. Dr. Chatterjee is a member of the Technical Committee on "Imaging Measurements and Systems" of IEEE Instrumentation & Measurement Society, USA. He is a Fellow of the IETE (India), a Fellow of the Institution of Engineers (India), and a Senior Member of the IEEE (USA). He has served/is serving in important positions in several International Conference Committees all over the world, including several flagship IEEE Conferences. Anjan Rakshit received the ME and PhD degrees in Electrical Engineering from Jadavpur University, Kolkata, India, in 1977 and 1987, respectively. He is a retired Professor from the Department of Electrical Engineering, Jadavpur University. His research interests include digital signal and image processing, Internet-based instrumentation, smart instrumentation, intelligent control, and design of real-time systems. He has published about 75 technical papers in his areas of research interest.

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This book is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness.

This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.