Design and Steering Control of a Center-Articulated Mobile Robot Module

Algorithm 1

The real-time image-processing algorithm.

Step 1: The image is rotated and flipped horizontally to be aligned

with the actual position of the robot.

Step 2: The image is cropped to only include the beacons area.

Step 3: The raw image is labeled which allows to refer to the image

currently being processed at a later time.

Step 4: RGB filtering is performed to detect the first color.

Step 5: Closing process is performed to connect nearby detected objects.

Step 6: Blob-size filtering is performed to remove the image noise.

Step 7: The center-of-gravity of the detected beacon is marked as

the position of the beacon in the image plane.

Step 8: Steps 4–7 are repeated for the second and third color,

using the labeled raw image.