Sistem za detekcijo in sledenje roja mobilnih milirobotov

Živalič, Kristjan (author), Vrabič, Rok (mentor)

Večrobotski sistemi postajajo vse bolj uporabljena in raziskovana tema za reševanje vsakodnevnih problemov. Za uspešno realizacijo in uporabo robotskega roja je potrebno robote najprej testirati v laboratorijskih okoljih. Izdelali smo program v programskem jeziku Python, ki s pomočjo računalniškega vida na podlagi odprte knjižnice OpenCV omogoča avtomatsko detekcijo in sledenje roja mobilnih milirobotov. Program shranjuje podatke o lokacijah milirobotov in omogoča vizualizacijo njihovega gibanja. Za namene testiranja izdelanega programa smo izdelali tudi robotsko celico, s pomočjo katere smo potrdili, da je program uspešno realiziran.

• Language: Slovenian
• Keywords: računalniški vid, obdelava slik, detekcijski algoritmi, algoritmi sledenja, OpenCV
• Work type: Final paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [K. Živalič]
• Year: 2022
• Number of pages: XV, 34 f.
• PID: 20.500.12556/RUL-139129
• UDC: 004.45+681.5(043.2)
• COBISS.SI-ID: 121489155
• Publication date in RUL: 31.08.2022

Secondary language

• Language: English
• Title: Detection and tracking system for a swarm of millirobots

Abstract

Multi-robot systems are becoming a widely used and researched field for solving everyday problems. For successful realization and usage of swarm robotic systems, robots need to be tested in a controlled enviroment. We coded a computer vision program in Python that successfully detects and tracks a swarm of mobile milirobots using OpenCV library. The program saves the data of milirobots' location and provides visualization of their movement. For testing purposes we also made a robot cell to help us confirm successful realization of the program.

• Keywords: computer vision, image processing, detection algorithms, tracking algorithms, OpenCV