Control servo visual de un sistema multirobots.

Abstract

In this work was carried out with a visual servo control of a multi-robot system, in which a game strategy was implemented to direct three differential robots over a structured environment. A free and low-cost robotic platform was used, and some modifications were made to it, adding necessary features that allow it to kick a ball into a court with dimensions of 120cm x 180cm. The identification of each robot, ball and work area was by means of digital image processing, this project was worked under the visual servo system, based on images (IBVS). The images were acquired by means of a camera, from which the visual characteristics were extracted, that identify each object within the work area, calculating each position and orientation of the robots within the system and with respect to the objective of the game which is the ball. A homography was performed on the court in order to align the incoming image. The position and orientation are sent to each robot through the implementation of a WiFi communication system between the computer and the robots, through the HTTP protocol with TCP / IP data transport. These control signals are analyzed internally by each robot executing a movement related to the incoming control signal.