Un Arreglo Experimental de Vehículos Terrestres No Tripulados para el Seguimiento de Objetos Utilizando el Control Visual (An Unmanned Ground Vehicles Experimental Setup for Image-Based Object Tracking)

Ernesto Monroy Cruz (ernesto.mc@itatitalaquia.edu.mx)1, Abel Garcia Barrientos (agarciab@itsm.edu.mx)2, Eduardo Steed Espinoza Quesada (steed@upp.edu.mx)3, Luis Rodolfo Garcia Carrillo (luis.garcia@tamucc.edu)4, Ruben Tapia Olvera (ruben.tapia@upt.edu.mx)5


1Instituto Tecnológico de Atitalaquia
2Instituto Tecnológico Superior de Misantla
3Universidad Politecnica de Pachuca
4University of Nevada
5Universidad Politecnica de Tulancingo

This paper appears in: Revista IEEE América Latina

Publication Date: Sept. 2015
Volume: 13,   Issue: 9 
ISSN: 1548-0992


Abstract:
This paper presents a practical design of a visual servoing algorithm for mobile robots. The algorithm, implemented in mobile robots equipped with a camera, facilitates to detect and follow a specific object autonomously. The proposed scheme infers information directly from the images obtained by the camera, and then digital signal processing techniques are implemented in order to detect the object of interest and to generate the necessary movements of the robot in order to perform the tracking task. The algorithm provides effective performance when using images of objects that have well known characteristics, e.g., color and the size. Experimental results obtained with omnidirectional mobile robot performing indoors show that the proposed methodology allows locating and following a specific object by using the proposed image-based visual servoing control.

Index Terms:
Visual servoing, segmentation, omnidirectional mobile robots.   


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