Object detection and tracking when constructing mobile robot motion trajectory using image processing

Currently, mobile robot (MR) technologies are rapidly developing with a view to performing reconnaissance tasks on land, underground, on water, under water and in space. To provide MR motion control, various methods such as building trajectories using sensors and cameras are employed as part of these developments. The main objective of this article is to study the process of detecting and tracking objects when constructing MR motion trajectories. As a result of operating in real time using video processing from a video surveillance camera, the motion parameters of objects were successfully detected and identified. The obtained data were utilized to calculate the coordinates of the position of objects in pixels, which in turn helps to determine the distance and angular velocity of the MR. To determine the MR motion trajectory, the resulting image was processed by means of the full-featured MATLAB/Simulink programming language. This makes it possible to ensure the accuracy of calculations and obtain more detailed information about the trajectory of the MR. In general, the use of mobile robot technologies in various fields is a relevant and promising direction for scientific and engineering research.

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