Diseño y aplicación de un sistema de control para la conducción de un vehículo eléctrico por el robot bípedo humanoide NAO usando técnicas de visión.

Abstract

The main objective of the project is the development of a control system for the conduction of an electric vehicle by the NAO humanoid biped robot using artificial vision techniques. Due to the multiple applications, which have been given to the robot NAO, one of the reasons has been to propose a navigation system, with the use of devices that the robot have. In the development of the research, it was used the various software that allow the work with the robot humanoid NAO, such as: Choregraphe, Python as well as the open CV artificial vision libraries, which have been used for the processing of Images acquired in real time with the superior camera of the NAO robot, being these: the detection of lines, people and through this data, the robot correct the trajectory by executing the action at the wheel, at the moment of the displacement with the car. The processing of the images is carried out by the computer, for which it is necessary that the mobile platform (electric car) that is assembling the robot NAO, has a certain minimum speed, to be able to carry out the respective maneuvers and the car is Keep inside the track. For the verification of the hypothesis is carried out tests that determine the operation to process the image and the movements of the robot at the moment of moving with the car, obtaining favorable results in the processing of the image that is acquired, just like the robot moves both on the right foot to accelerate and the arms to maneuver the steering wheel. To finish it is advisable to perform tests on a black background track and the lines that delimit the yellow lane on the left side and white color on the right side.