TY - JOUR
T1 - Development of a Mobile Robot with Camera-based Target Tracking and Obstacle Avoidance Systems
AU - Jamatolail, Mohamed Fitri Mohamad
AU - Ambar, Radzi
AU - Wahab, Mohd Helmy Abd
AU - Isa, Khalid
AU - Kadir, Herdawatie Abdul
AU - Ahmad, Muhammad Shukri
AU - Jamil, Muhammad Mahadi Abd
AU - Mohammadian, Masoud
N1 - Funding Information:
The authors would like to thank the Research Management Center Education for sponsoring the research under Tier 1 Research Grant (H161).
Publisher Copyright:
© Universiti Tun Hussein Onn Malaysia Publisher’s Office
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020
Y1 - 2020
N2 - This work describes the preliminary design and development of a mobile robot called CREC (Camera-Based Mobile Robot for Elderly Care). The robot uses a low-cost HC-SR04 ultrasonic sensor to avoid obstacle, and a Pixy CMUcam5 camera as the vision-based sensor to track the target. This camera uses colour marker tag to follow and monitor the target. CREC uses an Arduino UNO microcontroller to fuse data conveyed by the ultrasonic sensor and camera so that the robot can follow the target and avoid obstacles simultaneously. In this work, the hardware design of CREC is described. Furthermore, preliminary experiments to characterize the ultrasonic sensor and Pixy camera are demonstrated to verify the usefulness of the selected sensors for the mobile robot.
AB - This work describes the preliminary design and development of a mobile robot called CREC (Camera-Based Mobile Robot for Elderly Care). The robot uses a low-cost HC-SR04 ultrasonic sensor to avoid obstacle, and a Pixy CMUcam5 camera as the vision-based sensor to track the target. This camera uses colour marker tag to follow and monitor the target. CREC uses an Arduino UNO microcontroller to fuse data conveyed by the ultrasonic sensor and camera so that the robot can follow the target and avoid obstacles simultaneously. In this work, the hardware design of CREC is described. Furthermore, preliminary experiments to characterize the ultrasonic sensor and Pixy camera are demonstrated to verify the usefulness of the selected sensors for the mobile robot.
KW - Mobile robot
KW - obstacle avoidance
KW - pixy camera
KW - target tracking
UR - http://www.scopus.com/inward/record.url?scp=85098183114&partnerID=8YFLogxK
U2 - 10.30880/ijie.2020.12.07.026
DO - 10.30880/ijie.2020.12.07.026
M3 - Article
AN - SCOPUS:85098183114
SN - 2229-838X
VL - 12
SP - 236
EP - 245
JO - International Journal of Integrated Engineering
JF - International Journal of Integrated Engineering
IS - 7
ER -