20-04-2012, 11:03 AM
Remote Position Control of Mobile Robot Based on Visual Feedback and ZigBee Communication
[attachment=20409]
INTRODUCTION
Mobile robot position control systems are widely used in
industrial and home applications. The industrial applications
vary from military to medical appliance. Mobile robots are
commonly used in dangerous and inaccessible regions [1].
They perform tasks that are often too difficult for humans,
such as lifting or transport of heavy loads. Due to mentioned
reasons the wireless mobile robot position control is a
challenging task.
Information about robot position and orientation is
necessary in order to achieve robot position control. This
information is commonly obtained using inverse kinematics
[2] [3]. This requires encoders on the robot platform. Such an
approach may potentially result in problems with robot
position and orientation calculation. This is due to problems
with robot traction, unequal wheel radius etc [4]. Other
localization problem solutions are space mapping, current
position determining based on familiar environment or
triangulation [5]. This paper proposes a robot localization
solution which is based on color markers recognition. It
should be noted that most of the position control systems
require ranges of accuracy that can easily be met by the here
proposed solution.
EXPERIMENTAL RESULTS
In this section experimental results of the implemented
control system are presented. By analyzing the robot
movement trajectory shown in Fig. 9. it becomes clear that
satisfactory control results have been achieved. Fig. 9. shows
the experimental robot movement area as well as the recorded
experimental and ideal robot movement trajectories. It also
shows the coordinates of the starting and desired final robot
positions. The shown surface is represented by white paper.
Due to uneven lighting conditions, the left side of the paper is
more shaded than the right side. This unfavorable
circumstance did not affect the quality of the control and
consequently it proves that robust and satisfactory control
performance has been achieved.
CONCLUSIONS
This paper proposed and implemented a software and
hardware solution for remote position control of mobile
robots. All important aspects of the introduced solution have
been considered and the obtained results have been discussed
in detail. Hardware and software used in this paper have been
properly explained. The developed real hardware system is
presented. When it comes to software, the paper presents a
flow chart that gives an insight into the essence of the
functioning of the accomplished solution. Image processing
algorithms are implemented. These algorithms support image
cropping, color recognition, position and orientation detection.
Obtained experimental results confirm the quality of the
implemented solution.
[attachment=20409]
INTRODUCTION
Mobile robot position control systems are widely used in
industrial and home applications. The industrial applications
vary from military to medical appliance. Mobile robots are
commonly used in dangerous and inaccessible regions [1].
They perform tasks that are often too difficult for humans,
such as lifting or transport of heavy loads. Due to mentioned
reasons the wireless mobile robot position control is a
challenging task.
Information about robot position and orientation is
necessary in order to achieve robot position control. This
information is commonly obtained using inverse kinematics
[2] [3]. This requires encoders on the robot platform. Such an
approach may potentially result in problems with robot
position and orientation calculation. This is due to problems
with robot traction, unequal wheel radius etc [4]. Other
localization problem solutions are space mapping, current
position determining based on familiar environment or
triangulation [5]. This paper proposes a robot localization
solution which is based on color markers recognition. It
should be noted that most of the position control systems
require ranges of accuracy that can easily be met by the here
proposed solution.
EXPERIMENTAL RESULTS
In this section experimental results of the implemented
control system are presented. By analyzing the robot
movement trajectory shown in Fig. 9. it becomes clear that
satisfactory control results have been achieved. Fig. 9. shows
the experimental robot movement area as well as the recorded
experimental and ideal robot movement trajectories. It also
shows the coordinates of the starting and desired final robot
positions. The shown surface is represented by white paper.
Due to uneven lighting conditions, the left side of the paper is
more shaded than the right side. This unfavorable
circumstance did not affect the quality of the control and
consequently it proves that robust and satisfactory control
performance has been achieved.
CONCLUSIONS
This paper proposed and implemented a software and
hardware solution for remote position control of mobile
robots. All important aspects of the introduced solution have
been considered and the obtained results have been discussed
in detail. Hardware and software used in this paper have been
properly explained. The developed real hardware system is
presented. When it comes to software, the paper presents a
flow chart that gives an insight into the essence of the
functioning of the accomplished solution. Image processing
algorithms are implemented. These algorithms support image
cropping, color recognition, position and orientation detection.
Obtained experimental results confirm the quality of the
implemented solution.