Control of Wheeled Mobile Robot Using Centroid Algorithm

IEEE Access. 2020. Article 1.

Bhimani K. R., Ghildiyal S., Mani G., Subashini M., Stotckaia A.

In today’s developing technology, industries are playing important role for the betterment of life and society. But in industries many functions are running under hazardous conditions, so demand of human free interaction arises, which can be fulfilled by robotics. In Chemical, Oil & Gas, Petrochemicals and many manufacturing industries today we need human safety on head, and it can be done by robots. This paper implies such type of mobile robot which can be used in complex industries. The work is based on Image processing and Centroid Algorithm. The physical quantities like (temperature, pressure, humidity, stress, PH) and leakage of gases and liquids, fire, spark and many human safety related things which can be encountered by this mobile robot. By using this robot, the main achievement is human safety and simultaneously cost effective, precision and all far away data can be easily available through IoT (Cloud) [1] . Also, it works without any disincentive at particular of desired time in day or night, where particular place requires physical quantities measurement. In this project the main components are Controller (Raspberry Pi), Four DC Motor for each wheel, Pi Camera for image detection and processing, motor driver logic and physical quantities sensor [2] .

Keywords: робот, обработка изображений, robots, Raspberry Pi 3, image processing, Raspberry PI, Centroid Algorithm, Pi Camera, Алгоритм центроида, Пи-камера