Sensor-Fusion Based Navigation for Mobile Robot in Outdoor Environment

  • Muhammad Yousaf Ali Khan  Department of Electrical Engineering, Gomal University, Dera Ismail Khan, Pakistan.
  • Ehtasham Mustafa  Department of Electrical Engineering, Gomal University, Dera Ismail Khan, Pakistan.
  • Aamir Nawaz Department of Electrical Engineering, Gomal University, Dera Ismail Khan, Pakistan.
  • Nasir Saleem Department of Electrical Engineering, Gomal University, Dera Ismail Khan, Pakistan
  • Usman Illahi Department of Electrical Engineering, Gomal University, Dera Ismail Khan, Pakistan.


Autonomous navigation of the vehicles or robots is very challenging and useful task used by many scientists and researchers these days. By keeping this fact in mind, an algorithm for autonomous navigation of mobile robot in outdoor environment is proposed. This navigation track consists of colored border containing obstacles and some unplanned surfaces along with some specific points for GPS (Global Positioning System) alarms. The main goal is to avoid colored border and obstacles. For the vision problem webcam is used. First the colored border is detected by using OpenCV library by following HSI (Hue Saturation Intensity)technique. The Canny edge algorithm is used to find both edges of the border, then for detecting straight lines on both sides of track, Hough transformation is used. Finally, the closest border line is detected and its center point is calculated for which the mobile robot has to steer to avoid it. Second step is to avoid the obstacles, which is done by LRF (Laser Range Finder), first the range of LRF is defined, because not all obstacles have to be avoided, only those obstacles are detected and avoided which are in specified range as defined before, and finally GPS receiver is used to make alarms at some specific points. As a result, a successful navigation of the mobile robot in the outdoor environment is implemented.

Jan 1, 2019
How to Cite
ALI KHAN, Muhammad Yousaf et al. Sensor-Fusion Based Navigation for Mobile Robot in Outdoor Environment. Mehran University Research Journal of Engineering and Technology, [S.l.], v. 38, n. 1, p. 113-128, jan. 2019. ISSN 2413-7219. Available at: <>. Date accessed: 04 june 2020. doi:
This is an open Access Article published by Mehran University of Engineering and Technolgy, Jamshoro under CCBY 4.0 International License