Line Tracking and Object Recognition of forklift Truck by Using Pixy Cameras on a Wheel Robot

• Main Authors: ALICAN METIN, 艾利克
• Other Authors: LI, JENG-HAN
• Format: Others
• Language: en_US
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/39634912656761173097

碩士 === 南臺科技大學 === 電機工程系 === 105 === In this thesis, an algorithm is proposed for line tracking and object recognition by using an Arduino controller and a Pixy camera. With the application of a differential-driven wheeled robot, it is possible to track lines and recognize objects which can all be implemented in the industry such as unmanned forklift trucks. The proposed algorithm takes central points by a forward facing pixy camera, in order to perform the movement of tracking successfully with the correlation of a wheeled robot. By tracking the red color, the pixy camera can identify which path to follow, distinguishing the bright hue over the contrast color of the floor which avoids confusions. Labeling the objects with a specific color allows pixy camera to understand which object is the target one. Dynamics of the wheeled robot are also studied to avoid any unbalance or problem with the different maneuvers that can be present during line tracking. Basing the studies on articulated vehicles, the research is developed in order to be implemented in many other scenarios in automated vehicles. Keywords: line tracking, object recognition, pixy camera, differential-driven wheeled robot