Volume 6, No. 11, October 2015 Journal of Global Research in Computer Science RESEARCH PAPER 1 © JGRCS 2015, All Rights Reserved http://rroij.com/global-research-in-computer-science.php ISSN-2229-371X STRAIGHT-LINE MOBILE ROBOT USING VIDEO PROCESSING TECHNIQUE Mohd Fauzi Alias*, Mohamad Amir Adni Mansor, Mohamad Rosyidi Ahmad, Norzalina Othman Electrical, Electronics and Automation Section, Universiti Kuala Lumpur, Malaysian Spanish Institute, Kulim fauzialias@unikl.edu.my Keywords- Video processing, Arduino, Line detection, Path recovery, Motor Control. INTRODUCTION Navigation is an important factor of mobile robot movement effciency. Robot’s movement is controlled by relocation and localization terms which determine the positioning of a mobile robot respect to a global reference frame [1]. High accuracy in localization and relocation determine good initial position of a mobile robot and error correction in positioning respectively. There has been a lot of works on localization of mobile robot using sonar, IR sensor, but less work has been done on relocation [1]. Based on this factor, this project implements localization but focused on relocation of a mobile robot using image processing technique. Straight-line detection mobile robot is one of navigation robot’s types. The current researches of line tracking mobile robot using image processing based are quite popular instead of sensors. Based on the image processing technique, the vision-based systems of mobile robots are designed to extract the desired information from the images. Using the vision-based mobile robot, improvement in line tracking robot can be done accurately by applying related engineering equations. Furthermore, implementation of virtual line based can also be done for robot’s control purpose especially on autonomous surface. Vision-based line tracking system offers a lot of advantages in term of variety of informations compared to the ranging devices [2]. Therefore, the vision-based tracking mobile robot becomes an interesting topic to the research community due to the ability to extract information about the environment, which is not available in any combination of other types of sensors [3]. It offers better accuracy and reliability in vary lighting condition [4]. Besides, the price of the vision system especially high defnition webcams are cheaper than any other sensors because the increasing of application to mobile robots [5]. Application of the CCD camera as image acquisition technique has been proven to result good performance in line detection [6]. Wuhan University applied the CCD image sensor in the four-wheeled line track robot and proved resulting better performance in line detection. This proved that the vision-based mobile robot results better detection rather than sensor based. The vision based system offers a lot of information in a single image thus makes the system more fexible. The Vision-Based Automated Guided Vehicle (V-AGV) from Universiti Teknikal Melaka (UTeM) was used to identify the guideline, signboard and obstacle simultaneously [7]. The V-AGV has successfully developed with functioning straight line detector. VISION BASED MOBILE ROBOT This paper uses vision based mobile robot system in detecting straight mapped line as well as robot’s relocation. It consists of camera 1080hd, a mobile robot, MATLAB and Arduino board. The project has been divided into 2 units namely line detection and path recovery units as shown as Figure 1. Line detection unit implements image acquisition, binarization and line detection techniques. These techniques have been applied purposely for detecting error pathway by obtaining the accuracy of line detection from the robot’s eyes. Image acquisition technique controls the quantity of framed images collected from camera. Image quantity refects to the line detection’s sensitivity and accuracy. Large quantity of image frames indicates high sensitivity of line detection. Figure 1: Method fowchart. Line detection technique contributes the path’s error data in form of degree unit. In order to return to the right position, these data will be implemented in the path recovery unit to determine speed and time period needed to be supplied to the robot’s wheels. Based on the robot’s eyes application, the system maps the virtual line and compares with the actual detected line (from the robot’s eyes). The concept of comparing the virtual Abstract: This paper presents a method for relocation a mobile robot using video processing technique. This method is able to detect the mapped line and followed by the mobile robot. This method consists of line detection and path recovery techniques to relocate the mobile robot automatically. Based on the application, images captured from webcam are used for detecting the line trajectory. Error pathway followed by mobile robot generates path’s error data using line detection technique. Based on path’s error data, speed and time period supplied to the mobile robot’s wheels have been measured and experimented. The project implemented high defnition webcam 1080hd and Arduino board to capture the video and relocate the mobile robot respectively. This video was framed and formed into 2D sequential images.