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Aditama, Wira
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering

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Design and Implementation of a Vision-based Wheeled Mobile Robot Using HSV Color Segmentation and P-D Control Aditama, Wira; Herianto, David; Fernando, Nico; Henry, Carolus; Budiyanta, Nova Eka
Jurnal Elektro Vol 18 No 1 (2025): Jurnal Elektro: April 2025
Publisher : Prodi Teknik Elektro, Fakultas Teknik Unika Atma Jaya Jakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25170/jurnalelektro.v18i1.6892

Abstract

This study presents the design and implementation of a wheeled mobile robot capable of detecting and tracking a ping-pong ball using vision-based processing. The system integrates a Raspberry Pi 3 Model B+ as the main controller, a Raspberry Pi Camera Rev 1.3 for visual input, and DC motors driven by an L298N motor driver for actuation. Object detection is achieved through color segmentation in the HSV color space using the OpenCV library, followed by morphological filtering and contour analysis. A proportional-derivative (PD) control algorithm is employed to adjust motor speeds dynamically based on the ball's horizontal position in the frame. The experimental results demonstrate that the robot can successfully detect and follow a ping-pong ball, although it exhibits limitations in processing speed and motion stability. The average frame rate during operation was 5 FPS, which is sufficient for basic tracking tasks but suboptimal for high-speed applications. This project highlights the feasibility of vision based robotic systems for simple object tracking tasks.
Co-Authors Fernando, Nico Henry, Carolus Herianto, David Nova Eka Budiyanta