Obtaining feasible paths with obstacle avoidance using watershed algorithm through simulation

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.