Navigation system for a mobile robot incorporating trinocular vision for range imaging

This research focuses on the development of software for the navigation of a mobile robot. The software developed to control the robot uses sensory data obtained from ultra sound, infra red and tactile sensors, along with depth maps using trinocular vision. Robot navigation programs were written to navigate the robot and were tested in a simulated environment as well as the real world. Data from the various sensors was read and successfully utilized in the control of the robot motion. Software was developed to obtain the range and bearing of the closest obstacle in sight using the trinocular vision system. An operator supervised navigation system was also developed that enabled the navigation of the robot based on the inference from the camera images.