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Mobile robot control and guidance using computer vision
Granát, Michal ; Jílek, Tomáš (oponent) ; Mišík, Štefan (vedoucí práce)
Products of theory of control are almost everywhere around us beginning with temperature controller in our houses through modeling of market behavior to spaceship control. The reason of its widespread is its performance and beauty hidden in mathematical approach. Wheeled mobile robots are also widely used in industry because of their loading capability which is necessary. High accuracy path-tracking is very important for the mobile robots to precisely follow the designed path. One of the easiest way how to mark the path is to use line with different optical features than background. There are several methods to detect line and most powerful and efficient is camera usage. Subsequently, there is need to use digital image processing which demanding for computational performance but there is possibility to obtain huge amount of data. Although this principle could look obsolete (guide line) it is still used in many solutions because of its simplicity and cheapness. What is more, using camera to navigate robot global (without using line) is sort of modern technology and it is still in development. Objective of this work is to assembly small mobile robot, create its mathematical model, design several controllers and use camera and computer vision for robot guidance using guide line.
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Mobile robot control and guidance using computer vision
Granát, Michal ; Jílek, Tomáš (oponent) ; Mišík, Štefan (vedoucí práce)
Products of theory of control are almost everywhere around us beginning with temperature controller in our houses through modeling of market behavior to spaceship control. The reason of its widespread is its performance and beauty hidden in mathematical approach. Wheeled mobile robots are also widely used in industry because of their loading capability which is necessary. High accuracy path-tracking is very important for the mobile robots to precisely follow the designed path. One of the easiest way how to mark the path is to use line with different optical features than background. There are several methods to detect line and most powerful and efficient is camera usage. Subsequently, there is need to use digital image processing which demanding for computational performance but there is possibility to obtain huge amount of data. Although this principle could look obsolete (guide line) it is still used in many solutions because of its simplicity and cheapness. What is more, using camera to navigate robot global (without using line) is sort of modern technology and it is still in development. Objective of this work is to assembly small mobile robot, create its mathematical model, design several controllers and use camera and computer vision for robot guidance using guide line.
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