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Open AccessArticle

A Distributed Vision-Based Navigation System for Khepera IV Mobile Robots

Escuela de Ingeniería Eléctrica, Pontificia Universidad Católica de Valparaíso, Av. Brasil 2147, Valparaíso 2362804, Chile
Departamento de Informática y Automática, Universidad Nacional de Educación a Distancia, Juan del Rosal 16, 28040 Madrid, Spain
The National Institute of Electrical Engineering, Electronics, Computer Science, Fluid Mechanics & Telecommunications and Networks, 31071 Toulouse, France
Author to whom correspondence should be addressed.
Sensors 2020, 20(18), 5409;
Received: 13 July 2020 / Revised: 17 September 2020 / Accepted: 18 September 2020 / Published: 21 September 2020
(This article belongs to the Special Issue Mechatronics and Robotics in Future Engineering Education)
This work presents the development and implementation of a distributed navigation system based on object recognition algorithms. The main goal is to introduce advanced algorithms for image processing and artificial intelligence techniques for teaching control of mobile robots. The autonomous system consists of a wheeled mobile robot with an integrated color camera. The robot navigates through a laboratory scenario where the track and several traffic signals must be detected and recognized by using the images acquired with its on-board camera. The images are sent to a computer server that performs a computer vision algorithm to recognize the objects. The computer calculates the corresponding speeds of the robot according to the object detected. The speeds are sent back to the robot, which acts to carry out the corresponding manoeuvre. Three different algorithms have been tested in simulation and a practical mobile robot laboratory. The results show an average of 84% success rate for object recognition in experiments with the real mobile robot platform. View Full-Text
Keywords: mobile robot; vision-based navigation; object recognition algorithm mobile robot; vision-based navigation; object recognition algorithm
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Farias, G.; Fabregas, E.; Torres, E.; Bricas, G.; Dormido-Canto, S.; Dormido, S. A Distributed Vision-Based Navigation System for Khepera IV Mobile Robots. Sensors 2020, 20, 5409.

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