Vision-Based Mobile Robot

Loke, Weng Hong (2010) Vision-Based Mobile Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project is about a vision-based approach for line following mobile robot to follow red line on different background colors. The vision sensor is a Complementary Metal-Oxide Semiconductor (CMOS) sensor, interfaced with an 8Mbits FIFO independent memory for image buffering and microcontroller for mobile robot movement control. This project is categorized to three main parts which include electric circuit, mechanical design and microcontroller programming. The main objective of this project is enabling the automatic mobile robot to follow the desired trajectory such as line tracking according to real-time image from CMOS sensor. For further implementation of other desired trajectory such as landscape image or object can be obtained by comparing reference image with current image taken by CMOS sensor. The program can determine movements of mobile robot by differentiating the line color and the background color under different lighting conditions. The program used to process the data is using C language. C compiler will execute the HEX file which is downloaded into the PIC chip. The mechanical motion of the robot is controlled by differential drive by two DC motors.

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