Técnica de Navegação de um Robô Móvel Baseado em um Sistema de Visão para Integrá-lo em uma Célula Flexível de Manufatura (FMC) / Mobile robot navigation technique based in vision system for integrate it to a flexivel manufacturing cell (FMC)

AUTOR(ES)
DATA DE PUBLICAÇÃO

2006

RESUMO

Nowadays, the control of the automatic guided vehicles (AGV), is based on the study of different navigation existing techniques. Those utilize different kinds of sensors (infrared, ultrasound, tactile, vision, etc) as part of the equipment included in the mobile robot carrying out their tasks of movement and control since an initial position to a defined final position. The main contribution of this work is developing a navigation technique based on a vision system, by integrating a mobile robot to a flexible manufacturing cell (FMC), that is being implemented on the GRACO UnB laboratory. On the mobile robot, working as an automatic guided vehicle (AGV), are shown, as well, the advantages and disadvantages of this kind of navigation. The system of proposed navigation is building up for five main modules: The first module is images capture module in RGB format through the Matrox Meteor board. The second module of pre-processing, carries out the processing of the captured images through the application of computational vision algorithms. The third is the line points extraction module, to extract from the image the most important points of the scene as is in the case of the slope line tracking calculation and comparing it with the minimum permitted errors in the tracking line. The fourth module of signs recognition through the utilization of algorithms based in neural nets ; and finally the fifth module of control, that base on the information generated in the previous modules, works in the motor control of the robot, generating the correct movements during the tracking line or executing an action of movement depending on the recognized sign. The navigation system utilized by the mobile robot will be modelled, utilizing techniques of objects oriented, through the UML language.

ASSUNTO(S)

engenharias veículos guiados automaticament-agv célula flexível de manufatura visão computacional navegação robótica

ACESSO AO ARTIGO

Documentos Relacionados