Vision System for the Navigation of a Mobile Robot



Document title: Vision System for the Navigation of a Mobile Robot
Journal: Computación y sistemas
Database: PERIÓDICA
System number: 000423244
ISSN: 1405-5546
Authors: 1
1
2
2
Institutions: 1Universidad Tecnológica de Puebla, Ingeniería en Tecnologías para la Automatización, Puebla. México
2Benemérita Universidad Autónoma de Puebla, Facultad de Ciencias de la Computación, Puebla. México
Year:
Season: Ene-Mar
Volumen: 22
Number: 1
Country: México
Language: Inglés
Document type: Artículo
Approach: Aplicado, descriptivo
English abstract In this paper the development of an object detection system in a controlled two-dimensional space using computer vision techniques is presented. The detected objects have a rigid geometry and are exposed to real light; therefore, the system is robust to changes in lighting and shading. In order to handle the large amount of data to be processed in real time, a MyRIO device which contains an FPGA is used. This device allows communication with the LabVIEW software where the user interface resides. Using LabVIEW a tracking by color algorithm is implemented, in order to attend to a reactive agent, which uses an infrared sensor to detect the distance to an obstacle and perform the functions of foraging and storage. In order to improve performance, a supervisory system was implemented using a Kinect device that provides information relative to the position of the objects in the test area. This information allows eliminating occlusion problems
Disciplines: Ingeniería,
Ciencias de la computación
Keyword: Ingeniería biónica y cibernética,
Sistemas de navegación,
Robots móviles,
Seguimiento,
Detección del color
Keyword: Bionics and cybernetics,
Navigation systems,
Tracking,
Color determination,
Mobile robot
Full text: Texto completo (Ver HTML) Texto completo (Ver PDF)