Mobile manipulation

This article will introduce a robust vision system which was implemented on a mobile manipulator. This robot has to find objects and deliver them to pre specified locations. In the first stage, a method which is named color adjacency method was employed. However, this method needs a large amount of memory and the process is very slow on computers with small memories. Therefore since the previous methods, had used statistical method for object detection, the samples for the connectionist were extracted by this method. The obtained neural network is very robust against light changes and can detect objects very quickly. This neural network has the advantage of being extremely simple to implement, and astonishingly quick in practice.
In recent years, many scientists and students have
their robots compete in robotic competitions in
variety of ways. Micromouse maze contest, robocup
robot soccer, and AAAI robot competition are the
most famous contests that are held each year .
The sweeper mobile robot was designed to detect,
pick and deliver three different objects to
predetermined places . To function effectively, the mobile robot must first be
capable of purposefully move in its environment.
Hence, a MC-310 USB webcam provides robot with
the surrounding information. Once the image is
acquired and processed, the robot starts picking the
objects and taking them into predefined locations.
Recently, there has been a tremendous amount
index terms:Vision, Neural Network,Mobile Robot,Error