Robust and efficient vision system for mobile robots control - Application to soccer robots

In the paper a global vision scheme for estimation of positions and orientations of robots is presented. It can be divided into two steps. In the first, the incoming image is scanned and pixels are classified into a finite number of classes. At the same time, a segmentation algorithm is used to find corresponding regions belonging to one of the classes. In the second step, all the regions are examined. Selection of the ones, that are a part of the observed object is made by means of simple logic procedures. The novelty is focused on optimisation of the processing time needed to finish the estimation of possible object positions. Also, an application of this algorithm to robot control is presented. Reference trajectories are generated by the fourth order Beziér curves and a nonholonomic trajectory follower controller is used to assure the robots to follow the prescribed curves.