Localización y Orientación de Equipos Móviles Usando Color

Abstract

One of the biggest problems in the development of autonomous mobile interfaces is linked to the development of tracking system. It is essential to know the position of the mobile to close the control loop on the strategy used in path planning. This paper presents an algorithm that identifies two sets of mobile robots as well as guiding and locating each mobile in the plane. To this end, we propose the use of segmentation by thresholding techniques in conjunction with binary logic operations. The system consists of a peripheral digital camera that observes the entire plane and a set of mobility, which are controlled by a master system. Mobile Robots in its physical construction are two possible directions of movement and rotation on its axis. From the study, was obtained an algorithm that identifies two sets of mobile equipment and obtains the position and orientation. The system is supplemented by a prediction strategy that detects a possible collision. Finally, we get a system that identifies two sets of Mobile Robots on a cartesian plane and manages their movement.

Keywords

• Color
• umbralización
• robot móvil
• segmentación
• trayectoria.