Visual servoing for microrobotic platforms

A system capable of centering an object in the field of view of a camera is introduced in this work. The centering ability is achieved through visual servoing techniques. Components of the system are a visual servocontroller, using a camera as the sensor, and an intelligent actuator. Such an actuator has the ability to make decisions related to the camera motion. These decisions are made according to the information extracted from the acquired images. Software implementing specific methods for these tasks is used to save the acquired images into memory. This software enables the interface between the video device and the programming languages. The implemented system has the advantage of being able to be integrated to mobile robots supplying them with the ability to interact with the environment. Experimental tests have been done in order to evaluate the system response in real-time applications. Results are discussed in detail.