Gece görüş özellikli mobil robot için şekil eşlemeye dayalı lider takibi

Öz

Görsel kılavuzlanan bir mobil robotun baş etmesi gereken sorunlarından biri gece görüştür. Mobil robotların diğer bir uygulama alanı ise lider takibidir. Bu çalışmada bu amaçlara yönelik tasarlanmış Bilecik Mobil Robot (BLMρ) tanıtılmaktadır. Çalışmada gece görüş IR-LED kamera ile sağlanırken şekil taşıyan lideri bulma ve takip etme bölgesel tanımlayıcılar, 2B çapraz korelasyon ve şekil betimleyici ile başarılmıştır. Kalman filtresi ile hesapsal yük azaltılarak daha etkin bir takip algoritması oluşturulmuştur. BLMρ lider üzerindeki şeklin görsel geribesleme ile elde edilen merkezinin görüntüdeki konumunu ve BLMρ’ya uzaklığını belirten görüntüdeki alanını giriş olarak almaktadır. Bu girişleri kullanan bulanık mantık birimi sağ ve sol tekerler için kontrol işaretleri üretmektedir. Çalışmada belirtilen aşamalar ayrıntılarıyla verilmiş, lider takibi için kullanılan yöntemler karşılaştırılmış ve deneysel sonuçlar sunulmuştur.

Anahtar Kelimeler

• Lider takibi,Mobil robot,Şekil eşleme,IR-LED kamera

Shape matching based leader tracking for a mobile robot with night vision ability

Abstract

One of the problems that a visually guided mobile robot has to deal with is night vision. Another application field of mobile robots is leader tracking. In this study, Bilecik Mobile Robot (BLMρ) which is designed for these purposes is introduced. While night vision is provided by an IR-LED camera, shape carrying leader detection and following is achieved with regional descriptors, 2D cross-correlation and shape context. A more efficient following algorithm is obtained by decreasing computational cost with Kalman filtering. BLMρ takes the position of the center of the shape on the leader obtained from visual feedback and the shape area defining the distance between BLMρ and the leader as inputs. A fuzzy logic unit uses these inputs to generate control signals for left and right wheels. In the study, these stages are given in details, the methods used for leader tracking are compared and experimental results are presented.

Keywords

• Leader tracking,Mobile robot,Shape matching,IR-LED camera

Kaynakça

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