Abstract-Object detection and recognition is a challenging task in computer vision systems. So it was decided to work with E-puck for the same. But using a real e-puck connected with the system through bluetooth it is diffucult to transfer images captured by the robot's camera. So, it was decided to use Webot simulator for E-puck robot to develope and test the algorithm to detect objects using the color of an object. Where robot scans for the object if detects the goal, it moves in the direction of goal avoiding obstacles, else moves randomly in the arena looking for the goal (red object). The most relevant aspects of the simulator and implementation are explained.
Keywords-Webot simulator, e-puck, path planning
INTRODUCTION
We are implementing a simple object detection algorithm in Webot simulator for E-puck using C controller. The algorithm is designed to detect red objects using E-puck's camera. It is easier to control and grab images from E-puck robot using Webot simulator and controler.
1 - WEBOTS SIMULATOR
Webots is a development environment used to model, program and simulate mobile robots. With Webots the user can design complex robotic setups, with one or several, similar or different robots, in a shared environment. The properties of each object, such as shape, color, texture, mass, friction, etc., are chosen by the user. A large choice of simulated sensors and actuators is available to equip each robot. The robot controllers can be programmed with the built-in IDE or with third party development environments. The robot behavior can be tested in physically realistic worlds. The controller programs can optionally be transferred to commercially available real robots. Webots is used by over many universities and research centers worldwide. The development time you save is enormous.
Figure-1: Webots development stages
Webots allows you to perform 4 basic stages in the development of a robotic project Model, Program, Simulate and transfer as depicted on the Fig. 1.
