Image Recognition Method Applying in Formation Control of Mobile Robots

Abstract:

The article develops multi-pattern formation exchange using A* searching algorithm, and programs the shortest motion paths for mobile robots. The system contains an image recognition system, a motion platform, some wireless RF modules and five mobile robots. We use Otsu algorithm to recognize the variety 2D bar code to classify variety pattern, and control five mobile robots to execute formation exchange, and present the movement scenario on the motion platform. We have been developed some pattern formations according to game applications, such as hook pattern formation, T pattern formation, L pattern formation, rectangle pattern formation, sward pattern formation and so on, and develop the user interface of the multi-robot system to program motion paths for variety pattern formation exchange on the supervised computer. The supervised computer programs pattern formation exchange according to the image recognition results, and controls mobile robots moving on the motion platform via wireless RF interface. In the experimental results, mobile robots can receive the pattern formation command from the supervised computer, and change the original pattern formation to the assigned pattern formation on the motion platform, and avoid other mobile robots on real-time.

• Periodical: Applied Mechanics and Materials (Volumes 190-191)
• Pages: 693-698
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.190-191.693
• Online since: July 2012
• Authors: Y.C. Lin, C.H. Chen, K.L. Su, J.H. Guo
• Keywords: A* Searching Algorithm, Hook Pattern Formation, Multi-Pattern Formation Exchange, Otsu Algorithm, Wireless RF Interface

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