Medição de posição, velocidade e aceleração utilizando visão computacional em robôs móveis

Abstract

Autonomous Navigation Systems using computer vision refers to the way a robot can move around and find its way from the digital images capture and processing. In many applications of mobile robotics there is the need to verify the location, velocity and acceleration of the displacement of a robot for obtaining dynamic results. Although it is fundamental, it is not an easy task to measure these quantities, as it requires a project for the trajectory control system. Therefore, this paper intends to develop a localization and measurement system of a mobile robot based on computer vision techniques using the OpenCV library. The system captures images of a mobile robot from a camera mounted on the ceiling and after processing these images it is performed the computation of localization and measurement of velocities and accelerations. As a consequence, the solution proposed in this paper aims its viability as an autonomous robotic navigation tool in structured environments.