A Robot Vision System in ABU Robocon Contest: Visual Servoing Navigation and Object Tracking

Abstract

This article took the 2011 ABU Robocon Contest as background, and introduced the design and implementation of a vision system for visual servoing navigation and object tracking in this contest. For visual servoing navigation part, it had a series of simple image processing and then added to a previous control law; tests showed only 3cm distance and 1°angle error occur when robot ran one line of 6m. For object tracking part, article introduced a combined algorithm for the detecting of a black and white semi-circle object, which moved quickly and uncertainty in a colorful background and shining environment; tests showed the proposed algorithm work better than other exist algorithms in complex environment.