Sistema de emulación de un centro de distribución utilizando un robot móvil, controlado por visión artificial y lógica difusa. (Emulation System for a Distribution Center Using Mobile Robot, Controlled by Artificial Vision and Fuzzy Logic)

Fany del Pilar González (fanygonzalez@protoniluminacion.com)1, Jose Guillermo Guarnizo (jguarnizo@udistrital.edu.co)2, Germán Benavides (germani.benavidesc@utadeo.edu.co)3


1Escuela Colombiana de Carreras Industriales ECCI
2Universidad Distrital Francisco José de caldas.
3Universidad Jorge Tadeo Lozano.

This paper appears in: Revista IEEE América Latina

Publication Date: June 2014
Volume: 12,   Issue: 4 
ISSN: 1548-0992


Abstract:
A wheeled robot for object transportation in a distribution center is emulated and presented in this paper. The robot follows a free trajectory which is controlled by artificial vision and fuzzy logic modules. The artificial vision system includes a webcam located in the upper part of the distribution center and it is used to calculate the location of the robot. Specifically, image segmentation technique of red color was implemented in the artificial vision system to determine the robot's position and orientation. The information obtained from the webcam is also used by the fuzzy controller to estimate the robot's velocity which is then send to the mobile robot wirelessly. The control of the motors and the wireless communication of the robot are performed by an Arduino platform which supports an Xbee module for communications. The image processing and fuzzy control are implemented on a PC using Matlab.

Index Terms:
Distribution center, mobile robot, fuzzy logic, Arduino, Xbee, artificial vision.   


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