Visual feedback control of mobile robots

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Dr. Harmati István
Department of Control Engineering and Information Technology

Use active markers as a part of a motion capture system is widely accepted and used daily all over the world. The scope of it’s application is very various, it can be used to observe human movement for some purpose, diagnose oscillations, or support position informations for control systems. Apply this light emitting markers on a target facilitate to follow the motions, or if the marker’s layout and other properties are defined, it can be used to identify the marked object.

The other part of my work motive me to describe the multi-agent robot systems. Nowadays became important research of robotics, how to accomplish the job of a complex and expensive mobile robot with more simple and cheap mobile robots. This robots can cooperate effectively on a polluted area, or on places where humans can’t work, explore territory, participate in military combat and solve tasks that they would not be able alone.

The goal of my thesis is to design and implement an active marker system and apply it to a multi-agent robot system. The work contains the design and implementation of mobile robots, implement an embedded control program, grant instruction set for PC applications and the implementation of the active marker detecting software.

The completed system can identify the robots, send instructions for them using a radio module, and capable for a simple path tracking.


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