Adaptive Colour Feature Identification in Image for Object Tracking

Table 2

List of commands and their trigger conditions used by the pioneer 3 mobile robot.

Commands	Trigger conditions
Drive forward at 100 mm/sec	Area falls below 4% of the entire screen
Drive backward at 100 mm/sec	Area reaches above 20% of the entire screen
Turn left 4°	Centroid lies between 21% and 40% of the maximum width
Turn left 12°	Centroid lies below 20% of the maximum width
Turn right 4°	Centroid lies between 60% and 79% of the maximum width
Turn right 12°	Centroid lies above 80% of the maximum width