Aplicación de Algoritmos de Visión Artificial para el Control de Robots Cooperativos Móviles Dentro De Espacios Semi Estructurados

Abstract

This paper presents the application of computer vision algorithms to control two robotic agents in order to achieve a cooperative operation by moving an object into a semi-structured space from a starting point to a point of arrival. The system works based on an overhead camera, which captures the image and it is transmitted to a personal computer with Matlab R2013a, where the information is processed and the control actions are determined, which are transmitted to each agent wirelessly in order to perform these movements. The first movement is positioning in front of the object, the second one is the elevation of the object for later, through a coordinated movement, take it to the destination point.