Efficient and Secure Real-time Mobile Robots Cooperation Using Visual Servoing

Soumia Boudra, Nasr-Eddine Berrached, Amine Dahane

Abstract


For navigation and to maintain control in formation of robots fleet the objective pursuedby the robots is to follow a master robot. We propose in this work new secure synoptic based on approach of the visual servoing to control velocities (linear and angular) of multiple robots. To construct our system, we develop the interaction matrix which combines the moments in the image with robots velocities and we estimated the depth between each robot and the targeted object. This is done without any communication between the robots which eliminate the problem of the influence of each robot errors on the whole. For a successful visual servoing we proposed a powerful mechanism to safely the robots navigation by robot accident reporting system using raspberry Pi3.Experimental results are presented using the nonholonomic mobiles robots with on-board cameras in real time, to show the effectiveness of the proposed method.

Keywords


Image Processing; Kinematics Modeling; Mobile Robots; Secure Navigation; Visual Servoing



DOI: http://doi.org/10.11591/ijece.v10i3.pp%25p
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