Indian Journal of Science and Technology

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Obtaining Feasible Paths with Obstacle Avoidance using Watershed Algorithm through Simulation


Affiliations
1 Department of Computer Science and Engineering, Vaigai College of Engineering, Madurai – 625106, Tamil Nadu, India
2 Department of Computer Science and Engineering, Einstein College of Engineering, Seethaparpanalur, Tirunelveli – 627012, Tamil Nadu, India
3 Department of Mechanical Engineering, Thiagarajar College of Engineering, Madurai – 625005, India
 

Objective: To get collision free feasible path for mobile robot application in manufacturing environment based on watershed segmentation technique through simulation using Matlab code. Methodology: A Matlab code has been written in order to simulate the collision free path to complete a task by the mobile robot. The watershed algorithm is proposed and implemented for a sample image of a working environment representing different machines as rectangular shapes using Matlab code to obtain water rigid line. Findings: The concept of natural watershed is simulated for mobile robot application. Finally, the water rigid lines are obtained using Matlab code. The simulation of this work is tested with different sample images and it works satisfactorily. Applications/Improvements: Water rigid lines are considered as collision free feasible paths for mobile robot to perform certain task like material distribution in manufacturing system.

Keywords

Marker Controlled Approach, Water Rigid Line and Obstacle Avoidance, Watershed Algorithm
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  • Obtaining Feasible Paths with Obstacle Avoidance using Watershed Algorithm through Simulation

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Authors

M. Malathi
Department of Computer Science and Engineering, Vaigai College of Engineering, Madurai – 625106, Tamil Nadu, India
K. Ramar
Department of Computer Science and Engineering, Einstein College of Engineering, Seethaparpanalur, Tirunelveli – 627012, Tamil Nadu, India
C. Paramasivam
Department of Mechanical Engineering, Thiagarajar College of Engineering, Madurai – 625005, India

Abstract


Objective: To get collision free feasible path for mobile robot application in manufacturing environment based on watershed segmentation technique through simulation using Matlab code. Methodology: A Matlab code has been written in order to simulate the collision free path to complete a task by the mobile robot. The watershed algorithm is proposed and implemented for a sample image of a working environment representing different machines as rectangular shapes using Matlab code to obtain water rigid line. Findings: The concept of natural watershed is simulated for mobile robot application. Finally, the water rigid lines are obtained using Matlab code. The simulation of this work is tested with different sample images and it works satisfactorily. Applications/Improvements: Water rigid lines are considered as collision free feasible paths for mobile robot to perform certain task like material distribution in manufacturing system.

Keywords


Marker Controlled Approach, Water Rigid Line and Obstacle Avoidance, Watershed Algorithm



DOI: https://doi.org/10.17485/ijst%2F2016%2Fv9i8%2F131040