Object recognition for an agent-based controlled mobile robot

摘要

Object recognition is an important task associated to mobile robots that transport pieces between cells in a flexible production system or between different sections in an industrial plant. Upon detecting any obstacle, the recognition system must be able to inform which obstacle is in the robot path. Thus, the control system should be able to change the current robot behavior, in order to deviate from the detected obstacle or to follow it. However, it is normally necessary to recognize just a few obstacles that are commonly present in the robot operation environment In this paper, a system is proposed to recognize some objects that can appear in the path of a mobile robot. This system is based on information coming from ultrasonic transducers and a digital monochromatic camera.