Reconfigurable robotic system based on mono-camera guidance

The paper proposes an intelligent robotic system which is able to be (re)configured, at demand, for two deployment scenarios. a) The first task is to move the platform after a trajectory determined by the direction to a fixed point and avoid any obstacles occurring in the route. a) The second task is to identify and track a spherical object. The robot is equipped with a navigation system designed to maintain direction in case of interruption of video contact with the target (landmark), meaning when an obstacle interposes. It has two main subsystems: the mobile platform, which is equipped with a video camera and sensors for path correction, and the central processing system for the analysis of received information. The task control is based on extracted features from images. The communication between them is done via a wireless protocol. Algorithms for controlling the mobile platform are implemented on the embedded microcontroller and algorithms for image processing are implemented on the central system.