The use of vision systems in the autonomous control of mobile robots equipped with a manipulator

摘要

The paper presents examples of solutions that can be used in vision systems designed for mobile robots, which allow to recognize the robot's environment and to plan routes to specific destinations. Implemented algorithm can identify fiducial markers such as ARTag, by means of which the target places or intermediate points can be marked. The mobile robot can create a route on the basis of recognized markers. The paper also shows an example of vision system enabling autonomous operation of the control panel by computing a depth map. The algorithms of the vision system are implemented on the basis of the OpenCV library.