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Real-time image processing algorithms for object and distances identification in mobile robot trajectory planning

In this paper we present a suite of algorithms for determining the possible trajectories of an autonomous robot while navigating through obstacles. For this, we first identify the obstacle orientation and then determine the distance between each two obstacles and compare it with the robot width. The results of these algorithms are intended to be used by the robot path planning, for selecting the best trajectory. The algorithms are relatively simple and accurate and can work successfully even on robots with medium computational resources.