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摘要

Implementation of Particle Swarm Optimization (PSO) algorithm on the robot to search for the gas leakage source requires information of the position of each robot.The use of the camera allows the robot to obtain position information more accurate than the absolute position information of other search tools.This paper describes a method that will be used to locate the position of the robot.Proposed method uses several image processing techniques, such as, Color Filtering and Blobs Filtering in order to identify and obtain the robot position.Based on the experiments that have been performed, the method is capable of determining the absolute position of the robot so that it can provide position information of the robot in PSO algorithm implementation.