Implementación de una estrategia de control cinemático en un robot de tracción diferencial usando visión artificial para la red Tecnoparque nodo Neiva.

Abstract

The work consists of recreating a space that can be identified by a camera, in such a way that it can be represented as a two-dimensional plane in a graphical interface that allows drawing any trajectory on it. The path drawn by the user in the interface will be the path that a robot must make through the recreated space. The communication between the robot and the interface is carried out by means of a bluetooth module, so that the control actions can be exercised on the robot with the help of a free development card (Arduino). The control strategy is developed based on the type of robot chosen and its kinematic model. The objective is to implement an artificial vision algorithm that together with the kinematic model identify: the robot, its position, its orientation in the plane and thus be able to correct its trajectory with the help of the kinematic model that relates the variables. To identify the robot, circles are strategically located, which allow estimating the orientation and position of the robot in the plane, these circles are segmented in the image by their color. The histogram of the image, in the HSV color model, determines the threshold for the selection of the color of the circles and thus segment them for the measurements of the variables that the camera grants to the model.