Sliding Holt Algorithm Implementation in Mobile Robots Collision Detection with Dynamic Obstacles Based on Computer Vision Technologies

The aim of this research is to implement Computer Vision technologies on existing published concept proposed by the same author in previous researches "Collaborative and Non-Collaborative Dynamic Path Prediction for Mobile Agents Collision Detection with Dynamic Obstacles". Author proposed usage of Computer Vision technologies in order to increase independency of single robotic units in the swarm. This new method and algorithm is based on analysis of behavior of human objects and its implementation in form of functional method and algorithm which can be used in mobile robotics. In prior research papers, several new terms are proposed and explained such as Metamorphous Hyperspace, Relevant predicted collision time, Coefficient of agility etc. The method implements human behavior in mobile robotics in a way it allows full decentralization of collision detection and ensures many other advantages starting from minimizing network traffic to simplifying inclusion of additional agents in relevant workspace. Algorithm requires a negligible amount of resources allowing mobile agents to exploit more resources for additional tasks. This method and algorithm can be implemented in all kinds of vehicles: ground, naval or airborne objects. Experimental model using Computer Vision technology OpenCV library is implemented and experimental result are described in this paper.