Article info.

ABSTRACT

Received 23 Aug 2016
Revised 12 Oct 2016

Accepted 29 Jul 2017

This paper proposes a method for controlling a mobile robot using decentralized control based on signal from ceiling camera to remotely recognize simulated chemicals by color sensing. This camera recognizes a tag put on the robot to specify the coordinate of the target, and sends it back to a master computer. Based on this signal, the master computer controls the robot to the coordination center where a chemical is put. Whenever moving to the expected position, the robot will open the gripper and grip the target. A slave computer analyzes the signal from an on-board spectrometer to recognize the target and send the result to the master ones. The experiment results proved the applicability of mobile robots to identify unknown targets.

Keywords

Camera coordinates, decentralized control, mobile robot, onboard spectrometer, robot’s tag, simulated chemicals

Cited as: Hieu, L.T., Hung, T.T., 2017. A navigation and identificationsimulated chemicals using autonomous mobile robot with ceiling camera and onboard micro-spectrometer. Can Tho University Journal of Science. Vol 6: 74-82.