Navigation control of the Khepera IV model with OpenCV in V-REP simulator

GONZALO ALBERTO FARIAS CASTRO, Enrique Torres, Ernesto Fabregas, Hector Vargas, Sebastian Dormido-Canto, Sebastian Dormido

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This article presents a navigation simulation based on computer vision of the Khepera IV robot model (KH4VREP library) in the V-REP simulator. The images acquired by the robot are processed externally by the OpenCV library through a script built in the Python programming language. This library has implemented many optimized machine learning algorithms and will now be implemented in the discipline of machine vision, so some robot speed control experiments are implemented to test this approach. The objective of this work is to introduce students to the control of mobile robots based on artificial vision.

Original languageEnglish
Title of host publicationIEEE ICA-ACCA 2018 - IEEE International Conference on Automation/23rd Congress of the Chilean Association of Automatic Control
Subtitle of host publicationTowards an Industry 4.0 - Proceedings
EditorsCarlos Munoz, Gaston Lefranc, Mario Fernandez-Fernandez, Ernesto Rubio, Cristian Duran-Faundez
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538655863
DOIs
StatePublished - 10 Jan 2019
EventIEEE International Conference on Automation/23rd Congress of the Chilean Association of Automatic Control: Towards an Industry 4.0, ICA-ACCA 2018 - Greater Concepcion, Chile
Duration: 17 Oct 201819 Oct 2018

Publication series

NameIEEE ICA-ACCA 2018 - IEEE International Conference on Automation/23rd Congress of the Chilean Association of Automatic Control: Towards an Industry 4.0 - Proceedings

Conference

ConferenceIEEE International Conference on Automation/23rd Congress of the Chilean Association of Automatic Control: Towards an Industry 4.0, ICA-ACCA 2018
CountryChile
CityGreater Concepcion
Period17/10/1819/10/18

Keywords

  • Artificial vision
  • OpenCV
  • Python
  • Robot navigation
  • V-REP

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