Projeto de um sistema de desvio de obstáculos para robôs móveis baseado em computação reconfigurável / Design of an obstacle avoidance system for mobile robots based on reconfigurable computing

AUTOR(ES)

Jecel Mattos de Assumpção Júnior

DATA DE PUBLICAÇÃO

2009

RESUMO

The area of mobile robotics is undergoing a tremendous expansion, but one of the obstacles to be dealt with is the development of embedded computational systems that combine low power consumption and high performance. Reconfigurable computing has the potential to meet these requirements. This project is an evaluation of the complexities of fully exploiting this technology through the hardware implementation of an obstacle avoidance system for mobile robots using a single, low cost camera as its sensor. Normally, the optic flow algorithms used in this project are implemented entirely in software and so suffer several limitations in order to run on computers embedded in the robots. The hardware described here does not have the same limitations but requires more development effort

ASSUNTO(S)

mobile robots reconfigurable computing optical flow visão computacional computer vision computação reconfigurável robótica móvel fluxo óptico

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