Machine Vision-based Obstacle Avoidance for Mobile Robot

Widodo, Nuryono Satya and Pamungkas, Anggit Machine Vision-based Obstacle Avoidance for Mobile Robot. [Artikel Dosen]

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Abstract

Obstacle avoidance for mobile robots, especially humanoid robot, is an essential ability for the robot to perform in its environment. This ability based on the colour recognition capability of the barrier or obstacle and the field, as well as the ability to perform movements avoiding the barrier, detected when the robot detects an obstacle in its path. This research develops a detection system of barrier objects and a field with a colour range in HSV format and extracts the edges of barrier objects with the FindContoure method at a threshold filter value. The filter results are then processed using the Bounding Rect method so that the results are obtained from the object detection coordinate extraction. The test results detect the colour of the barrier object with OpenCV is 100%, the movement test uses the processing of the object's colour image and robot direction based on the contour area value> 12500 Pixels, the percentage of the robot making edging motion through the red barrier object is 80% and the contour area testing <12500 pixel is 70% of the movement of the robot forward approaching the barrier object.

Item Type:	Artikel Dosen
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisi / Prodi:	Faculty of Industrial Technology (Fakultas Teknologi Industri) > S1-Electrical Engineering (S1-Teknik Elektro)
Depositing User:	S.T., M.En Nuryono Satya Widodo
Date Deposited:	20 Apr 2020 01:12
Last Modified:	20 Apr 2020 01:12
URI:	http://eprints.uad.ac.id/id/eprint/18449

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