A vehicle implementation of a color following system using the CMUcam3

Author

Bikman, J.D. ; Meiswinkel, T.W. ; Conrad, J.M.

Author_Institution

UNC Charlotte, Charlotte, NC, USA

fYear

2009

fDate

5-8 March 2009

Firstpage

30

Lastpage

33

Abstract

By creating a center of mass for a specific color, color tracking, and controlling servos relative to the distance from the center of mass, the CMUcam3 and Gears SMP robotics platform can be used to build a color tracking system to autonomously track a certain color within the Y´CrCb color range. Using pulse-width modulation arrays to control the servomechanic DC motors, a control system based on mean image data can be implemented to steer and direct an autonomous CMUcam3 driven vehicle platform.

Keywords

CMOS image sensors; DC motors; image colour analysis; mobile robots; optical tracking; pulse width modulation; robot vision; servomotors; CMOS sensor; CMUcam3; Gears SMP robotics; Y´CrCb color range; center of mass; color following system; color tracking; complementary metal oxide semi-conductor camera sensor; control system; pulse-width modulation arrays; servomechanic DC motors; vehicle platform; Control systems; DC motors; Gears; Pulse modulation; Remotely operated vehicles; Robots; Servomechanisms; Space vector pulse width modulation; Vehicle driving; Weight control;

fLanguage

English

Publisher

ieee

Conference_Titel

Southeastcon, 2009. SOUTHEASTCON '09. IEEE

Conference_Location

Atlanta, GA

Print_ISBN

978-1-4244-3976-8

Electronic_ISBN

978-1-4244-3978-2

Type

conf

DOI

10.1109/SECON.2009.5174044

Filename

5174044