PENJEJAK OBJEK PADA KURSI RODA CERDAS AUTONOMOUS

Abstract

Digital image processing is a rapidly growing and has many applications in field of science and technology. One of common applications is in a control system of mobile robot to navigate, whether to detect a barrier object, to control mobile robot movement or to track the target object. In this final project, digital image processing are implemented for object tracking system in order tosmart wheelchair can navigate and track stationary or moving objects based on object color. Digital image processing using open source library AForge.NET and making the program using Visual C # 2010.Parameters that used in process detection object is color of object. Process ofimage acquisitionusing awebcamwhichis usedtoobtainpositionof objects and height ofobjects. Information position of objects and high of objects used as input linear velocity and angular velocity to move smart wheelchair. From test results showed that smart wheelchair can navigate and track stationary or moving objects. The smart wheelchair can track moving objects well if velocityof moving objects smaller than velocity of moving smart wheelchair that is 0,6m / s. If there are two or more colored objects, the smart wheelchair will track colored objects that size of objects more dominant.Smart wheelchair will stop tracing a colored object if height of objects image is greater than 200 pixels. If acoloredobjectis notdetectedby thewebcam, the webcamwill do scanning forthesecoloredobjects. Key words : smart wheelchair, object tracking, webcam, image processing, AForge.NET, state chart, serial communication.