Low to medium level image processing for a mobile robot

As part of a guidance system for mobile robots operating on a wide and flat floor, such as an ordinary factory or a gymnasium, we have proposed a special-purpose sign. It consists of a cylinder, with four slits, and a fluorescent light, which is placed on the axis of the cylinder. Two of the slits are parallel to each other, and the other two are angled. A robot obtains an image of the sign with a TV camera. After thresholding, we have four bright sets of pixels which correspond to the four slits of the cylinder. We compute by measuring the relative distances between the four points, the distance and the angle to the direction of the sign can be computed using simple geometrical equations. Using a personal computer with an image processing capability, we have investigated the accuracy of the proposed position identification method and compared the experimental results against the theoretical analysis of measured error. The data shows good coincidence between the analysis and the experiments. Finally, we have built a movable robot, which has three microprocessors and a TV camera, and performed several control experiments for trajectory following.

Download Full-text

1P1-D07 Study on Motion Control for Mobile Robots Using Visual Information : Image Processing for the Forward Course Situation(Vision System for Mobile Robot)

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2014._1p1-d07_1 ◽

2014 ◽

Vol 2014 (0) ◽

pp. _1P1-D07_1-_1P1-D07_2

Author(s):

Masanori KAWASUMI ◽

Noriyasu MASUMOTO

Keyword(s):

Image Processing ◽

Mobile Robot ◽

Mobile Robots ◽

Motion Control ◽

Visual Information ◽

Vision System ◽

Information Image

Download Full-text

Study on Mechanical Automation with Localization for Mobile Robot Based on Color Tag

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.703.244 ◽

2013 ◽

Vol 703 ◽

pp. 244-248

Author(s):

Shan Hu ◽

Li Guo Tian ◽

Meng Li ◽

Xing Li Wu

Keyword(s):

Image Processing ◽

Mobile Robot ◽

Real Time ◽

Difficult Problem ◽

Processing Method ◽

Development Platform ◽

Real Time Image ◽

Color Identification ◽

Robot Position ◽

Time Image

Mechanical Automation is playing an important role in all fields. In the detecting system of robot position, how to increase the robustness of color identification is a difficult problem. To solve this problem, a real-time image processing method based on color training is put forward adopting the development platform of the completely independent robot, which is applied in a kind of detecting system at partial structured environments .The method has been already applied well in the visual detecting system of mobile robot.

Download Full-text

Development of a Tracking System on the Mobile Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.764-765.680 ◽

2015 ◽

Vol 764-765 ◽

pp. 680-684

Author(s):

Kuo Lan Su ◽

Jr Hung Guo ◽

Kuo Hsien Hsia

Keyword(s):

Image Processing ◽

Control System ◽

Mobile Robot ◽

Pid Control ◽

Balance Control ◽

Tracking System ◽

Control Law ◽

Moving Target ◽

System A ◽

Feedback Data

The purpose of this paper is to develop an intelligent mobile robot using image processing technology. The mobile robot is composed of a visual tracking system, a loading platform, a balance control system, a PC-based controller, four ultrasonic sensors and a power system. We develop a PC based control system for image processing and path planning. The mobile robot can track a moving target and adjust the loading platform by the balance control system simultaneously. The Image processing based on OpenCV use two different tracking methods, MTLT (Match Template Learning Tracking) and TLD (Tracking, Learning and Detection), to track moving targets. The efficiencies of both methods for tracking the moving target on the mobile robot are compared in this paper. The loading platform control system uses HOLTEK Semiconductor Company's HT66F Series 8-bit microprocessor as the processor, and receives the feedback data from the FAS-A inclinometer sensor. The controller of the loading platform uses the PID control law according to the feedback signals of the inclinometer sensor, and controls the rotation speed of the platform motor to tune the balance level. Keywords— Intelligent mobile robot, Image processing, OpenCV, MTLT, TLD, HOLTEK, FAS-A inclinometer sensor, PID control.

Download Full-text