Abstract
This paper presents a mobile platform able to identify and track a spherical colored target and also to navigate upon preset trajectory, with avoidance of possible obstacles. The system can be configured for two scenarios. The first scenario is to move the platform upon a trajectory determined by the direction to a fixed point which is the center of a spherical colored object (the fixed target). The robotic system can avoid any obstacles occurring in the route. The second scenario is to identify and track a spherical colored object. In order to accomplish the above tasks the robot uses a simple navigation system based on a mono-camera and compass sensor. Except the mobile platform, the system has a central processing module for the analysis of received data and the elaboration of the control law. The task control is established by the aid of the extracted features from images. After obstacle avoidance the path correction is done both by compass and the camera information. The control algorithms are implemented on the robot microcontroller and the image processing algorithms are implemented on the PC (central module).
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Acknowledgement
The work has been funded by the National Research Programme “STAR”, project 71/2013: Multisensory robotic system for aerial monitoring of critical infrastructure systems—MUROS.
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Popescu, D., Ichim, L., Fratila, R., Gornea, D. (2016). Image Based Control of a Simple Mobile Robotic System. In: Pricop, E., Stamatescu, G. (eds) Recent Advances in Systems Safety and Security. Studies in Systems, Decision and Control, vol 62. Springer, Cham. https://doi.org/10.1007/978-3-319-32525-5_7
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DOI: https://doi.org/10.1007/978-3-319-32525-5_7
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