Abstract
In this paper, a mechanism of visual servoing for mobile microrobot with a centralized camera is developed. Especially for the development of swarm AI applications. In the fields of microrobots the size of robots is minimal and the amount of movement is also small. By replacing various sensors that is needed with a single centralized vision sensor we can eliminate a lot of components and the need for calibration on every robot. A study and design for a visual servoing mobile microrobot has been developed. This system can use multi object tracking and hough transform to identify the positions of the robots. And can control multiple robots at once with an accuracy of 5-6 pixel from the desired target.
Highlights
The role of robots in human life, especially in the manufacturing sector continues to increase and more relevant [1]
In the applications of microrobot systems that scale from cm to mm the various sensors are difficult to use because of their limited size and the required precision level of the sensor will make it difficult in the calibration process [3]
Visual Servoing or visual control is widely used for various applications of robot manipulator industry and mobile robot, starting from positioning, navigation, object tracking etc. [4] [5] [6]
Summary
The role of robots in human life, especially in the manufacturing sector continues to increase and more relevant [1]. Not to mention the amount of information that can be taken from one sensor This makes the visual control system more attractive. Visual control is very suitable for use in microrobot to replace the various sensors needed to know the position. This can make the robot system simpler because the inherent unbooted sensor allows us to minimize and simplify the robot design [9]. We can control the robot large number or swarms of robots Applications of such systems include micro handling and assembly, micro sensing and one of the most unique of allowing us to simulate the behavior of swarm animals such as fish and bees [11] [12]. It takes a visual control system that can adapt to environmental changes and can process data quickly so that the movement of the robot can be controlled almost real time
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