Control de un robot móvil para el seguimiento de objetos mediante realimentación visual.

Abstract

The aim of the present titration work was the development of a control system of a mobile robot for the tracking of objectives through visual feedback. A monocular vision system mounted on a unicycle type mobile robot provides limited information for follow-up tasks of many times, assuming specific criteria such as depth, a composition of two cameras can generate a vision blur to implement stereoscopic vision systems and add information to a two-dimensional image. The control system based on the kinematic modeling of the complete system (mobile robot and joint structure of the cameras), as well as the kinematic model of the cameras. The mobile robot and the joint structure used are made up of Dynamixel motors, described as intelligent actuators with integrated serial communication networks. The control diagram presented uses kinematic modeling to determine the appropriate speeds that all actuators must adapt to track objectives through visual feedback in a structured environment. This proposal analyzed through a simulator in Matlab that indicates the correct functioning of the control system. Using a prototype, experimental results are obtained that demonstrate an adequate operation of the control system for the tracking of objectives through visual feedback. The proper functioning of the robotic mechanism and the proposed controllers is validated, besides the error graphs and control speeds show the correct execution in a real environment. It recommended that this project be the basis for plans in which the performance of the system in unstructured environments studied.