Navigation control of the Khepera IV model with OpenCV in V-REP simulator

Abstract

This article presents a navigation simulation based on computer vision of the Khepera IV robot model (KH4VREP library) in the V-REP simulator. The images acquired by the robot are processed externally by the OpenCV library through a script built in the Python programming language. This library has implemented many optimized machine learning algorithms and will now be implemented in the discipline of machine vision, so some robot speed control experiments are implemented to test this approach. The objective of this work is to introduce students to the control of mobile robots based on artificial vision.