Development of a Mobile Robot with Camera-based Target Tracking and Obstacle Avoidance Systems

被引：1

作者：

Jamatolail, Mohamed Fitri Mohamad ^{[1
]}

Ambar, Radzi ^{[2
]}

Abd Wahab, Mohd Helmy ^{[2
]}

Isa, Khalid ^{[2
]}

Kadir, Herdawatie Abdul ^{[2
]}

Ahmad, Muhammad Shukri ^{[2
]}

Abd Jamil, Muhammad Mahadi ^{[2
]}

Mohammadian, Masoud ^{[3
]}

机构：

[1] Amkor Technol Malaysia Sdn Bhd, Jalan Klang Banting, Telok Panglima Garang 42507, Selangor, Malaysia

[2] Univ Tun Hussein Onn Malaysia, Dept Elect Engn, Fac Elect & Elect Engn, Parit Raja, Malaysia

[3] Univ Canberra, Fac Sci & Technol, Canberra, ACT, Australia

来源：

INTERNATIONAL JOURNAL OF INTEGRATED ENGINEERING | 2020年 / 12卷 / 07期

基金：

奥地利科学基金会;

关键词：

Mobile robot; pixy camera; target tracking; obstacle avoidance;

D O I：

10.30880/ijie.2020.12.07.026

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This work describes the preliminary design and development of a mobile robot called CREC (Camera-Based Mobile Robot for Elderly Care). The robot uses a low-cost HC-SR04 ultrasonic sensor to avoid obstacle, and a Pixy CMUcam5 camera as the vision-based sensor to track the target. This camera uses colour marker tag to follow and monitor the target. CREC uses an Arduino UNO microcontroller to fuse data conveyed by the ultrasonic sensor and camera so that the robot can follow the target and avoid obstacles simultaneously. In this work, the hardware design of CREC is described. Furthermore, preliminary experiments to characterize the ultrasonic sensor and Pixy camera are demonstrated to verify the usefulness of the selected sensors for the mobile robot.

引用

页码：236 / 245

页数：10

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