Towards autonomous robot operation: Path map generation of an unknown area by a new trapezoidal approximation method using a self guided vehicle and shortest path calculation by a proposed SRS algorithm

Abstract

This paper deals with the road map generation of an unknown environment by an autonomous vehicle using a proposed trapezoidal approximation. Subsequently a novel shortest path calculation method named smallest road segment (SRS) detection method has been proposed. At first we have generated a blind map of an unknown environment in a computer. Image of the unknown environment is captured by the vehicle and sent to the computer using wireless transmitter module. The image is pre-processed and the detected road boundaries help to update the blind map with road positions. When the complete map having all possible road branches is generated then based on the source and destination point, the shortest path is calculated using the proposed SRS method. This shortest path is forwarded to the vehicle to reach at the destination through the best path available. © 2008 Springer Berlin Heidelberg.