A Distributed Vision-Based Navigation System for Khepera IV Mobile Robots

摘要

This work presents the development and implementation of a distributed navigation system based on computer vision. The autonomous system consists of a wheeled mobile robot with an integrated colour camera. The robot navigates through a laboratory scenario where the track and several traffic signals must be detected and recognized by using the images acquired with its on-board camera. The images are sent to a computer server that processes them and calculates the corresponding speeds of the robot using a cascade of trained classifiers. These speeds are sent back to the robot, which acts to carry out the corresponding manoeuvre. The classifier cascade should be trained before experimentation with two sets of positive and negative images. The number of images in these sets should be considered to limit the training stage time and avoid overtraining the system.