Auto Tracking Mobile Robot Navigation Based on HUE Color of Image Pattern

In industrial, a mobile robot is often used to move an object from its initial location to the final location. To perform the task, the robot needs to move forward following the path provided. The problem has been countered from movement the robot is to find a path that moves the robot from start position to goal while never touch any obstacle. For an auto-tracking mobile robot, the most critical part is the target identification and tracking of the moving object. Although the motion planning problem is defined in the regular world, it lives in another space. In this project, a combination of the HUE-based color of the pattern was used as a tracking object and the mobile robot can only identify the color of that image pattern for the auto-tracking navigation. Therefore, a study was carried out to make a path planning for mobile robot navigation using a vision system which is Pixy CMUcam5 as a sensory point to detect the color of the image pattern of the object for the auto-tracking purpose. Arduino Mega is the main control unit that controls all input and output of the mobile robot. The results of the work presented suggest that the color of image pattern identification used for the mobile robot navigation should be a combination should be at least two combinations so that, the mobile robot could differentiate between the tracking object and the environment.