Χρήση ενός αλγορίθμου εκτίμησης της οπτικής ροής σε ένα ρομπότ για την αποφυγή εμποδίων
The subject of this dissertation is the design, construction and programming of a simple robot, that will utilize an optical flow estimation algorithm in order to avoid existing obstacles in its environment. A popular robotics kit and a netbook attached ην its base were used for the construction of the robot. A well known algorithm for the estimation of optical flow was used for the detection of the obstacles, as it is implemented in a computer vision library. The system is using the camera from the netbook to retrieve the images which are then used to calculate the optical flow between two consecutive frames. Later, these results are used by a simple strategy algorithm to void the obstacles. The commands for the movement of the robot are transferred through the Bluetooth communication protocol to the central processing unit of the robot, which in turn moves the left and right motor accordingly. The final system can successfully avoid the obstacles found in its course.