PERFORMANCE EVALUATION AND ANALYSIS OF A VISION-BASED MOBILE ROBOT WITH SENSOR FUSION CAPABILITIES
Keywords:
autonomous mobile robo, sensor fusion, vision based mobile robotAbstract
The study focuses on the performance evaluation and analysis of a vision-based mobile
robot equipped with sensor fusion capabilities for line following tasks. The combination of camera
and IR sensor array were aimed to enhance the robot's line following capabilities by combining
data received by the sensors. The first step is developing a base model of 4-wheel mobile robot
with esp32 as the main controller. Sensor fusion techniques including data fusion and feature-
level fusion are employed to combine visual data from the Pixy2 camera and positioning data from
the IR sensor array. This fusion process results in a comprehensive representation of the line's
position and orientation thus enabling precise and accurate line tracking. The performance
evaluation focuses on assessing line tracking accuracy, stability and responsiveness of the vision-
based mobile robot with sensor fusion capabilities. Experimental results demonstrate the
effectiveness of the fusion approach in improving line following compared to using individual
sensors. The system exhibits robustness and adaptability in varying environmental conditions and
noise interference. Overall, this study has been able to generate another option of vision-based
mobile robots with sensor fusion capabilities providing valuable insights into the combination of
visual and positioning sensing for precise line following. The evaluated system serves as a
foundation for further fun experiments in the field of mobile robotics enabling autonomous robots
to navigate accurately.
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