• Repositorio Institucional Universidad de Pamplona
  • Trabajos de pregrado y especialización
  • Facultad de Ingenierías y Arquitectura
  • Ingeniería Mecatrónica
    • Please use this identifier to cite or link to this item: http://repositoriodspace.unipamplona.edu.co/jspui/handle/20.500.12744/4354
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    dc.contributor.authorValencia Ruiz, Luis Fernando.-
    dc.date.accessioned2022-11-11T17:24:18Z-
    dc.date.available2020-09-16-
    dc.date.available2022-11-11T17:24:18Z-
    dc.date.issued2020-
    dc.identifier.citationValencia Ruiz, L. F. (2020). Control servo visual de un sistema multirobots [Trabajo de Grado Pregrado, Universidad de Pamplona]. Repositorio Hulago Universidad de Pamplona. http://repositoriodspace.unipamplona.edu.co/jspui/handle/20.500.12744/4354es_CO
    dc.identifier.urihttp://repositoriodspace.unipamplona.edu.co/jspui/handle/20.500.12744/4354-
    dc.descriptionEn este trabajo se realizó un control servo visual de un sistema multirobots, en el que se implementó una estrategia de juego para dirigir tres robots diferenciales sobre un ambiente estructurado. Se tomó una plataforma robótica libre de bajo costo a la cual se le realizaron modificaciones, añadiéndole características necesarias que le permitan patear una pelota dentro de una cancha con dimensiones de 120cm x 180cm. Se hace la identificación de cada robot, pelota y área de trabajo por medio del tratamiento digital imágenes, se trabajó este proyecto bajo el sistema servo visual basado en imágenes (IBVS). De las imágenes adquiridas por medio de una cámara, se extraen las características visuales, que identifican a cada objeto dentro del área de trabajo, calculando cada posición y orientación de los robots dentro del sistema y con respecto al objetivo del juego que es la pelota. A la cancha se le realiza una homografía para alinear la imagen entrante. La posición y orientación es enviada a cada robot mediante la implementación de un sistema de comunicación WiFi entre el ordenador y los robots, a través del protocolo HTTP con transporte de datos TCP/IP. Estas señales de control son analizadas internamente por cada robot ejecutando un movimiento relacionado a la señal de control entrante.es_CO
    dc.description.abstractIn 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.es_CO
    dc.format.extent94es_CO
    dc.format.mimetypeapplication/pdfes_CO
    dc.language.isoeses_CO
    dc.publisherUniversidad de Pamplona- Facultad de Ingenierías y Arquitectura.es_CO
    dc.subjectControl servo visual.es_CO
    dc.subjectRobot diferencial.es_CO
    dc.subjectVisión artificial.es_CO
    dc.subjectTransformación de homografía.es_CO
    dc.titleControl servo visual de un sistema multirobots.es_CO
    dc.typehttp://purl.org/coar/resource_type/c_7a1fes_CO
    dc.date.accepted2020-06-16-
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    dc.rights.accessrightshttp://purl.org/coar/access_right/c_abf2es_CO
    dc.type.coarversionhttp://purl.org/coar/resource_type/c_2df8fbb1es_CO
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