Path planning through recognizing the height of O" stacle

Describes the path planning of an autonomous mobile robot using one camera-based sequence image processing. As an assumption, all objects in front of the mobile robot are located on the same plan. Using the moving camera located on the autonomous mobile robot, the robot extracts the angular points of obstacle objects, calculates the height using the assumption and discrepancy between two consecutive images. In the image processing, angular points of objects must correspond so that they deliver the size of objects. Thus, the robot passes through if the object has not the height. Otherwise, the robot passes to one side if the obstacle object has the height. Using a newly self-developed mobile robot, the experiments showed the robot works well using this path planning method