Environment Mapping with Mobile Robot Guided by a Markers Vision System

摘要

A Markers vision system is a set of infrared cameras capable to distinguish little spheres made of reflective material. These systems usually have been employed to study bio-mechanical processes, and as a tool for animating characters in virtual worlds, for instance in animated movies and video games. In this work, this tool is used as a positioning system for a mobile robot in a closed room. The robot is a prototype made over Arduino, it consist of a two motor control provided with a proximity sensor for monitoring the space around. The control of this robot was designed to be automatic, in other words it is conditioned to walk in a delimited space and to report the objects found in its way. To control the mobile robot, an algorithmic framework was built in Matlab. The idea with this framework is to receive the data obtained by the motion capture system to locate the robot in the delimited area. Otherwise, the framework is used to build the virtual map of the place and to produce the control orders to guide the robot. The aim of this work is to evaluate a set of strategies for environment mapping and the performance of the robot in the identification of the hidden space and its reconstruction in a virtual representation. In the other hand, this work is used to teach techniques of artificial vision, algorithm writing, digital signal processing and control to undergraduate students. Furthermore, this project is proposed to identify new lines in mobile robots research and in the development of automatic machines that works in cooperative schemes.