Diseño e implementación de un robot móvil provisto de visión artificial para reconocimiento de objetos y posicionamiento del móvil a los objetos

Abstract

Vision by computer is a tool for engineering applications which requires system of high processing. In this project the object detection is performed by color and shape using a single board computer (Raspberry pi) whose processing capacity is lower than the conventional computers. A terrestrial mobile robot of unicycle type is used for this application. Detects objects with known brands and calculates the distances of depth, height and the deviation angle between the robot and the identified object, then the robot goes to this object until 30 cm. A PID type controller is used for tracking where the reference is the deviation angle. Distances, color and shape information are sent by I2C to a slave device, which shows this information on a display.