Gece görüş özellikli mobil robot için şekil eşlemeye dayalı lider takibi

Yıl 2017, Cilt: 23 Sayı: 2, 133 - 143, 28.04.2017

Tolga Yüksel

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

Öz

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.

Anahtar Kelimeler

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

Kaynakça

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