Development of a Tracking System on the Mobile Robot

The purpose of this paper is to develop an intelligent mobile robot using image processing technology. The mobile robot is composed of a visual tracking system, a loading platform, a balance control system, a PC-based controller, four ultrasonic sensors and a power system. We develop a PC based control system for image processing and path planning. The mobile robot can track a moving target and adjust the loading platform by the balance control system simultaneously. The Image processing based on OpenCV use two different tracking methods, MTLT (Match Template Learning Tracking) and TLD (Tracking, Learning and Detection), to track moving targets. The efficiencies of both methods for tracking the moving target on the mobile robot are compared in this paper. The loading platform control system uses HOLTEK Semiconductor Company's HT66F Series 8-bit microprocessor as the processor, and receives the feedback data from the FAS-A inclinometer sensor. The controller of the loading platform uses the PID control law according to the feedback signals of the inclinometer sensor, and controls the rotation speed of the platform motor to tune the balance level. Keywords— Intelligent mobile robot, Image processing, OpenCV, MTLT, TLD, HOLTEK, FAS-A inclinometer sensor, PID control.