基于嵌入式的机器人视觉伺服寻迹系统研究-color based object recognition.pdf

The 30th Annual Conference of the IEEE Industrial ElectronicsSociety, November 2 - 6,2004, Busan, Korea Color Based Object Recognition, Localization, and Movement Control for Multiple Wheeled Mobile Robots Genichi Yasuda, and Bin Ge2 Department of Mechanical Engineering, Nagasaki Institute of Applied Science, Nagasaki, Japan, e-mail :yasuda@csce.nias.ac.jp Department of Informatics, Dalian University, Dalian, China the subgoals by changing its direction convergently. Absfrurt--This paper presents an experimental study on object recognition, localization and movement controlof soccer 11. CONTROL SYSTEM ARCEUTECWFtE robots using a vision system. A color image segmentation method based on W V color information of each pixel of the The overall system is constructed of a host computer and color image is applied to the recognition of position and multiple robot agents. Each robot with an onboard computer orientationof a smsll mobile robot. First the lower and higher control system has limited intelligence and limited ability for threshold values of Y,U,and V are determined for the sample whole tasks. The host has a visual Sensor to observe the field color markers. Then color image segmentation is performed using the tables that transform each value of Y,U, and V in a or workspace, target object, and all robots, and can generate pixel to membership data in several color classes. The position global planning and information for leading the robots, and orientationof the robots