Vision based tracking control and obstacle avoidence of a mobile vehicle

© 2004 IFACIn this work the application of vision based tracking control and obstacle avoidance of a mobile robot is introduced. The mobile robot is equipped with a controller embedded camera,PWM Modules, a PC104 with I/O module and an RF Modem. In order to let the vehicle to follow a given trajectory, a PC as master controller connected through an RF Modem. The instant position and orientation of the vehicle with respect to an assigned plane coordinate frame is detected by using the optical geometry. The complete system is thought to be used as a part of flexible transportation system in various operations, such as in factories, hospitals, fields,military objectives etc.The built up system can also be used in hazardous conditions or areas, such as nuclear plants, mined fields, slandered zones, where human safety is of great importance