Image Recognition Method Applying in Formation Control of Mobile Robots
The article develops multi-pattern formation exchange using A* searching algorithm, and programs the shortest motion paths for mobile robots.The system contains an image recognition system, a motion platform, some wireless RF modules and five mobile robots.We use Otsu algorithm to recognize the variety 2D bar code to classify variety pattern, and control five mobile robots to execute formation exchange, and present the movement scenario on the motion platform.We have been developed some pattern formations according to game applications, such as hook pattern formation, T pattern formation, L pattern formation, rectangle pattern formation, sward pattern formation and so on, and develop the user interface of the multi-robot system to program motion paths for variety pattern formation exchange on the supervised computer.The supervised computer programs pattern formation exchange according to the image recognition results, and controls mobile robots moving on the motion platform via wireless RF interface.In the experimental results, mobile robots can receive the pattern formation command from the supervised computer, and change the original pattern formation to the assigned pattern formation on the motion platform, and avoid other mobile robots on real-time.
multi-pattern formation exchange A* searching algorithm Otsu algorithm hook pattern formation wireless RF interface
Y.C.Lin C.H.Chen K.L.Su J.H.Guo
Graduate school Engineering Science and technology,National Yunlin University of Science & Technolog Department of Computer Communication Engineering,Chienkuo Technology University,Changhua,Taiwan Department of Electrical Engineering,National Yunlin University of Science & Technology Douliou,Yunl
国际会议
the 3nd International Conference on Digital Manufacturing & Automation (第三届数字制造与自动化国际会议(ICDMA 2012))
桂林
英文
693-698
2012-08-01（万方平台首次上网日期，不代表论文的发表时间）