An Object Detection and Identification System for a Mobile Robot Control

摘要

The one of the features of mobile robot control is to detect and to identify objects in workspace. Especially, autonomous systems must detect obstacles and then revise actual trajectories according to new conditions. Hence, many solutions and approaches can be found in literature. Different sensors and cameras are used to solve problem by many researchers. Different type sensors usage can affect not only system performance but also operational cost. In this study, single camera based obstacle detection and identification algorithm was developed to control omni-drive mobile robot systems. Objects and obstacles, which are in robot view, are detected and identified their coordinates by using developed algorithms dynamically. Developed algorithm was tested on Festo Robotino mobile robot. Proposed approach offers not only cost efficiency but also short process time.