Revista Facultad de Ingeniería Universidad de Antioquia
versão impressa ISSN 0120-6230
CATUCHE, Juan; STERLING, Julio e BACCA-CORTES, Bladimir. Tracking of ground-trajectories and target using an airship and artificial vision. Rev.fac.ing.univ. Antioquia [online]. 2009, n.50, pp. 122-134. ISSN 0120-6230.
This paper presents a robotic autonomous system composed by an indoors airship, a wireless video system, a PC and a tracking software for ground trajectory and high contrasted target tracking. The airship’s model has been simplified in order to get its lineal model, with which we defined the control objectives as relative heading and distance between the airship and groundtargets. A PD control strategy has been designed as airship’s heading as distance to goals, reaching a stabilization time of 5s and a overshoot of 5%. The video camera is the only feedback sensor; its images are processed for: trajectory segmentation using the Hough transform, Canny operator and a median filter; and ground-target segmentation, using color detection in the HIS space. Lineal, curved and lineal-curved combination trajectories tests were performed, reaching heading errors less than ±14o and distance of ±5pixels. Ground-targets tracking tests were performed, describing lineal and curved trajectories and reaching distance errors of ±39pixels, which corresponds to 8,33% image’s dimensions and orientation along goals’ heading of ±12o.
Palavras-chave : Mobile robotics; blimp; artificial vision; trajectory tracking; target tracking.