Object Detection and Tracking for Wireless Motion Control using MATLAB and Irobot Create

Ejofodomi Oa Ofualagba O,Ovoradua Vo Oviri Jo

doi:10.4172/2168-9695.1000136

Abstract

This paper presents a robust algorithm for object detection and tracking using MATLAB. This program captures a single image using a webcam attached to the laptop. The captured image is processed to find a predefined object. The centroid of the object is calculated. Subsequent images are then acquired. Each time a new image is acquired, the predefined object and its centroid is extracted and compared to the centroid of the previous image. The differences in the x and y coordinates of the centroids are used to determine the direction of movement of the Irobot Create. Once the algorithm determines the direction of movement, the program issues the move command wirelessly to the robot with the aid of a Bluetooth Adapter Module.

Highlights

Object tracking and wireless motion control are important topics in robotics and automation that are currently being explored [1]
Motion commands are sent to the Irobot wirelessly by means of a Bluetooth Adapter Module (BAM)
The Irobot possesses a serial port through which sensor data can be read and motor commands can be generated using the "Irobot Roomba Open Interface protocol"

Summary

Introduction

Object tracking and wireless motion control are important topics in robotics and automation that are currently being explored [1]. This paper explores the use of the motion of an object to wirelessly control the motion of a robot. The algorithm for wireless motion control was written in MATLABTM (The MathworksTM, Natick, MA, USA) [2]. The object movement is quantified and used to determine the direction and distance moved by a robot, the Irobot Create [3]. Motion commands are sent to the Irobot wirelessly by means of a Bluetooth Adapter Module (BAM). The algorithm for the object detection, tracking and wireless motion control is presented in detail in the materials and methods section. Possible improvements to the existing algorithm are briefly explained in the discussion and conclusion section

Materials and Methods

Methodology

Discussion and Conclusion