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Control system for automatic search and transportation of an object by a mobile robot using image processing

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Abstract

In this paper, a control system of a mobile robot for automatic search and transportation of an object is developed. The control system is constructed using image processing and distance measurement. The system has two functions of automatic search and transportation. The targets are detected by HSV color recognition using camera image. The autonomous control is realized based on proportional integral control law to determine the angular velocity, where the control error is calculated using the image information and the angle-pixel characteristics. The effectiveness of the control system considered in this paper was confirmed through experimental results.

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Authors and Affiliations

  1. Institute of Ocean Energy, Saga University, 1, Honjo-machi, Saga, 840-8502, Japan

    Yoshitaka Matsuda

  2. Department of Advanced Technology Fusion, Graduate School of Science and Engineering, Saga University, 1, Honjo-machi, Saga, 840-8502, Japan

    Yoshitaka Sato

  3. Department of Electrical and Electronic Engineering, Faculty of Science and Engineering, Saga University, 1, Honjo-machi, Saga, 840-8502, Japan

    Takenao Sugi & Satoru Goto

  4. Department of Control and Information Systems Engineering, National Institute of Technology, Kurume College, 1-1-1 Komorino, Kurume, Fukuoka, 830-8555, Japan

    Naruto Egashira

Authors
  1. Yoshitaka Matsuda
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  2. Yoshitaka Sato
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  3. Takenao Sugi
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  4. Satoru Goto
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  5. Naruto Egashira
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Correspondence to Yoshitaka Matsuda.

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Matsuda, Y., Sato, Y., Sugi, T. et al. Control system for automatic search and transportation of an object by a mobile robot using image processing. Artif Life Robotics 26, 465–472 (2021). https://doi.org/10.1007/s10015-021-00690-2

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  • DOI: https://doi.org/10.1007/s10015-021-00690-2

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