Control e implementación de un Ugv en la celda de manufactura flexible Has-200 mediante visión artificial

Abstract

The objective of this work is to develop a UGV linked to an artificial vision system to provide greater flexibility to the existing HAS-200 manufacturing cells at the Francisco José de Caldas District University, this cell is used for educational purposes and with this development wants to give more tools to the students to apply the acquired knowledge. Artificial vision is a branch of artificial intelligence that aims at the mathematical modeling of a process of visual perception of any individual to generate programs that simulate these visual capabilities by computer. One of these developments is the unmanned ground vehicles which are robotic platforms that are used to help the human being to perform or optimize certain tasks The scope of this project will be to perform the recognition of the position in which the product is found by artificial vision, calculate the kinematics of the vehicle to go to the position of the product and return to the initial point, without collecting the object. For this purpose, a preparation and parameterization of the workspace, selection and design of the UGV and its components and the development of an application in MATLAB for image recognition and artificial vision will be carried out. An artificial vision system was made capable of recognizing a certain existing product in defined positions within the HAS-200 manufacturing cell. This system has the ability to recognize the product as long as the user correctly loads the images previously taken, the software calculates the trajectory of the vehicle and sends this information to a processing unit via bluetooth communication to the Arduino to control the displacement of the UGV within the work area.