Control system for automatic search and transportation of an object by a mobile robot using image processing

In this paper, a control system of a mobile robot for automatic search and transportation of an object is developed. The control system is constructed using image processing and distance measurement. The system has two functions of automatic search and transportation. The targets are detected by HSV color recognition using camera image. The autonomous control is realized based on proportional integral control law to determine the angular velocity, where the control error is calculated using the image information and the angle-pixel characteristics. The effectiveness of the control system considered in this paper was confirmed through experimental results.