Intelligent wall following control of differential drive mobile robot along with target tracking and obstacle avoidance

2017 ◽  
Author(s):  
N Poornima Varma ◽  
V Aivek ◽  
V Ravikumar Pandi
Keyword(s):  
Mobile Robot ◽  
Target Tracking ◽  
Obstacle Avoidance ◽  
Differential Drive ◽  
Wall Following

A Stereo Vision Based Target Tracking and Obstacle Avoidance

2009 ◽  
Vol 419-420 ◽  
pp. 565-568 ◽  
Author(s):  
Chao Ching Ho
Keyword(s):  
Mobile Robot ◽  
Target Tracking ◽  
Obstacle Avoidance ◽  
Visual Tracking ◽  
Stereo Vision ◽  
Vision System ◽  
Tracking System ◽  
Video Data ◽  
Corner Detection ◽  
Harris Corner

Designing a visual tracking system to track an object is a complex task because a large amount of video data must be transmitted and processed in real time. In this study, a stereo vision system is used to acquire the 3D positions of the target, tracking can be achieved by applying the CAMSHIFT algorithm, then apply the fuzzy reasoning control to steer the mobile robot to follow the selected target and avoid the in-path obstacles. The adopted obstacle avoidance component is based on the Harris corner detection and the binocular stereo imaging, which performs the correspondence calculation. Therefore a depth map is created and showing the relative 3D distances of the detected substantial features to the robot, which provides the information of the in-path obstacles in front of the wheeled mobile robot. The designed visual tracking and servo system is less sensitive to lighting influences and thus performs more efficiently. Experimental results showed that the mobile robot vision system successfully finished the target-following task by avoiding obstacles.

Fuzzy-Based Controller for Differential Drive Mobile Robot Obstacle Avoidance

2010 ◽  
Vol 43 (16) ◽  
pp. 67-72 ◽  
Author(s):  
Srdjan. T. Mitrovic ◽  
Zeljko. M. Djurovic
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Differential Drive

Development of a Mobile Robot with Camera-based Target Tracking and Obstacle Avoidance Systems

2020 ◽  
Vol 12 (7) ◽  
Author(s):  
Mohamed Fitri Mohamad Jamatolail ◽  
◽  
Radzi Ambar ◽  
Mohd Helmy Abd Wahab ◽  
Khalid Isa ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Target Tracking ◽  
Obstacle Avoidance ◽  
Low Cost ◽  
Elderly Care ◽  
Hardware Design ◽  
Ultrasonic Sensor ◽  
Preliminary Design ◽  
Design And Development ◽  
Arduino Uno

This work describes the preliminary design and development of a mobile robot called CREC (Camera-Based Mobile Robot for Elderly Care). The robot uses a low-cost HC-SR04 ultrasonic sensor to avoid obstacle, and a Pixy CMUcam5 camera as the vision-based sensor to track the target. This camera uses colour marker tag to follow and monitor the target. CREC uses an Arduino UNO microcontroller to fuse data conveyed by the ultrasonic sensor and camera so that the robot can follow the target and avoid obstacles simultaneously. In this work, the hardware design of CREC is described. Furthermore, preliminary experiments to characterize the ultrasonic sensor and Pixy camera are demonstrated to verify the usefulness of the selected sensors for the mobile robot.

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