Visual Servoing of Mobile Microrobot with Centralized Camera

Gandjar Kiswanto, Mohamad Safhire, Reza Afrianto, Rifkie Nurcahya, P. Tandon, W. Wisnoe, M.Z. bin Abdullah
2018 MATEC Web of Conferences  
In this paper, a mechanism of visual servoing for mobile microrobot with a centralized camera is developed. Especially for the development of swarm AI applications. In the fields of microrobots the size of robots is minimal and the amount of movement is also small. By replacing various sensors that is needed with a single centralized vision sensor we can eliminate a lot of components and the need for calibration on every robot. A study and design for a visual servoing mobile microrobot has been
more » ... developed. This system can use multi object tracking and hough transform to identify the positions of the robots. And can control multiple robots at once with an accuracy of 5-6 pixel from the desired target.
doi:10.1051/matecconf/201815302001 fatcat:rp7bh47j2fbsfk3tbjpj67u5j4