Robotic Traffic Cone System for Lane Closure using Computer Vision and Decentralized PID Control

Saldana A.C.; Campos M.M.; Gutierrez D.Z.; Alegria E.J. · Proceedings of the 2024 Latin American Robotics Symposium, LARS 2024 (2024) · DOI: 10.1109/lars64411.2024.10786459

Resumen

The manual placement of traffic cones increases the risk of accidents for road workers due to vehicle collisions. This paper proposes a system of cone-shaped robots that automatically position themselves to gradually close a lane. Image segmentation and Hough transform, with a neural networks model to correct position distortion, are proposed to estimate the position of each robot. Additionally, to implement decentralized PID control, the current position and orientation is determined by a Kalman filter in conjunction with an embedded gyroscope and the motor's incremental encoders. Validation was conducted using three robots within a controlled, scaled-down environment.

Instituciones: Universidad de Ingeniería y Tecnología