Integrating deep learning in target tracking applications, as enabler of control systems
DOI:
https://doi.org/10.15837/ijccc.2024.6.6854Keywords:
vision-based control, visual servoing, object detector, transfer learning, deep learningAbstract
Target tracking is a key component of control systems with applications in various domains. Several examples of commercial applications may be given, which benefit from this technology: the development of car collision avoidance systems which must detect and track potential obstacles and hazards, or the development of UAVs that can track and record the evolution of athletes. For the purpose of our research, this technology was developed and tested as part of a less complex application. The current work describes a simple yet practical implementation of vision-based control for a mobile robot system. In the experiment, we used a mobile robot as target and a similar robot as follower. To achieve the tracking task, the used strategy involves the detection of a specific visual object mounted on the target, by extracting its features which are then used in issuing control commands within a remotely-closed loop. A Deep Learning approach is used for object detection, incorporating a detector model into the strategy while preserving an explicit controller in the overall scheme. The carried experiment has proven that this new approach provides the expected results, which make it a suitable tool for development of larger scale applications of control systems.
References
Vesselenyi, Tiberiu and Dzitac, Ioan and Dzitac, Simona and Vaida, Victor (2008) Surface Roughness Image Analysis using Quasi-Fractal Characteristics and Fuzzy Clustering Methods, In International Journal of Computers Communications & Control, 3(3), 304-316, 2008 https://doi.org/10.15837/ijccc.2008.3.2398
Noje, Dan and Dzitac, Ioan and Pop, Nicolae and Țarcă, Radu Cătălin (2020) IoT Devices Signals Processing Based on Shepard Local Approximation Operators Defined in Riesz MV-Algebras, In Informatica, 31(1), 131-142, 2020 https://doi.org/10.15388/20-INFOR395
Noje, Dan and Țarcă, Radu Cătălin and Dzitac, Ioan and Pop, Nicolae (2019), IoT Devices Signals Processing based on Multi-dimensional Shepard Local Approximation Operators in Riesz MV-algebras, In International Journal of Computers Communications & Control, 14(1), 56-62, 2019 https://doi.org/10.15837/ijccc.2019.1.3490
Noje, Dan and Țarcă, Radu Cătălin and Pop, Nicolae and Moldovan, Alin Octavian and Moldovan, Ovidiu Gheorghe (2022), Automatic System Based on Riesz MV-algebras, for Predictive Maintenance of Bearings of Industrial Equipment Using Temperature Sensors, In ICCCC 2022: Intelligent Methods Systems and Applications in Computing, Communications and Control, Springer, Cham, 3-19, 2022 https://doi.org/10.1007/978-3-031-16684-6_1
Araar, Oualid and Aouf, Nabil (2014), Visual servoing of a Quadrotor UAV for autonomous power lines inspection, In 2014 22nd Mediterranean Conference on Control and Automation, MED 2014, 1418-1424, 2014 https://doi.org/10.1109/MED.2014.6961575
Khattar, Fawzi and Luthon, Franck and Larroque, Benoit and Dornaika, Fadi (2021), Visual localization and servoing for drone use in indoor remote laboratory environment, In Machine Vision and Applications, Springer Berlin Heidelberg, 32(1), 1-13, 2021 https://doi.org/10.1007/s00138-020-01161-7
Kilyen, Nandor Alpar and Lemnariu, Rares, Florin and Muntean, Ionut, and Mois, , George Dan (2024) An Indoor Localization System for Automotive Driving Competitions, In International Journal of Computers Communications & Control, 19(1), 2024 https://doi.org/10.15837/ijccc.2024.1.6030
Yıldırım, Şahin and Sertaç, Savaş (2022), Design of a Mobile Robot to Work in Hospitals and Trajectory Planning Using Proposed Neural Networks Predictors, In International Conference on Reliable Systems Engineering (ICoRSE) - 2021, Springer International Publishing, 32-45, 2022 https://doi.org/10.1007/978-3-030-83368-8_4
Feng, Xin and Velinsky, Steven A. (1997), Distributed control of a multiple tethered mobile robot system for highway maintenance and construction, In Computer-Aided Civil and Infrastructure Engineering, 12(6), 383-392, 1997 https://doi.org/10.1111/0885-9507.00071
Prassler, Erwin and Ritter, Arno and Schaeffer, Christoph and Fiorini, Paolo (2000), A short history of cleaning robots, In Autonomous Robots, 9(3), 211- 226, 2000 https://doi.org/10.1023/A:1008974515925
Anton, Daniel Melentie and Milas, Raul Cristian and Țicărat, Teofil and Mihalca, Vlad Ovidiu and Țarcă, Radu Cătălin and Birouas, Flaviu Ionut, (2023), Experimental Testing of UV-C Light Sources Used Disinfection Mobile Robots, In 2023 17th International Conference on Engineering of Modern Electric Systems (EMES), IEEE, 1-4, 2023 https://doi.org/10.1109/EMES58375.2023.10171692
Yıldırım, Şahin and Ulu, Burak (2023), Deep Learning Based Apples Counting for Yield Forecast Using Proposed Flying Robotic System, In Sensors, 23(13), 2023 https://doi.org/10.3390/s23136171
CORNEA, Mihai and MIHALCA, Vlad Ovidiu (2016), A REVIEW OF SWARMING UNMANNED AERIAL VEHICLES, In ANNALS OF THE ORADEA UNIVERSITY. Fascicle of Management and Technological Engineering, 25(3), 2016 https://doi.org/10.15660/AUOFMTE.2016-3.3270
Mihalca, Vlad Ovidiu and Anton, Daniel Melentie and Țarcă, Radu Cătălin and Yıldırım, Şahin (2023), Simulating Simple Tasks for a Kinematic Model of Differential-drive Mobile Robots, In 2023 17th International Conference on Engineering of Modern Electric Systems (EMES), IEEE, 2023 https://doi.org/10.1109/EMES58375.2023.10171646
Vancea, Codruța and Mihalca, Vlad Ovidiu and Toia-Cret, Titus Ruben (2011), Mathematical and Programmatic Design in Matlab: A Rewarding Experience, In Journal of Computer Science and Control Systems, 4(1), 203-207, 2011
Khuwaja, Komal S.A. and Chowdhry, B. S. and Khuwaja, K. F. and Mihalca, V. O. andT, arcă, R. C. (2018) Virtual Reality Based Visualization and Training of a Quadcopter by using RC Remote Control Transmitter, In IOP Conference Series: Materials Science and Engineering, 444(5), 2018 https://doi.org/10.1088/1757-899X/444/5/052008
Corke, Peter (2017) Robotics, Vision and Control - Fundamental algorithms in MATLAB (2nd ed.), Springer International Publishing AG, 2017 https://doi.org/10.1007/978-3-319-54413-7
Țarcă, Radu Cătălin (2001), Conducerea robot,ilor utilizând sisteme servovizuale, Editura Universităt, ii din Oradea, ISBN: 973-613-038-X, 2001
Țarcă, Radu Cătălin (2010), Virtual and Remote Control Lab Experiment Using Matlab, In ANNALS OF THE ORADEA UNIVERSITY. Fascicle of Management and Technological Engineering, XIX(3), 78-81, 2010 https://doi.org/10.15660/AUOFMTE.2010-3.2017
Pasc, Ildiko and Csokmai, Lehel and Popențiu-Vlădicescu, Florin and Țarcă, Radu Cătălin (2014), Augmented reality used for robot remote control in educational laboratories, In Applied Mechanics and Materials, 658, 672-677, 2014 https://doi.org/10.4028/www.scientific.net/AMM.658.672
Mihalca, Vlad Ovidiu; Anton, Daniel Melentie and Țarcă, Radu Cătălin (2023). Prototyping platform design for visual robot control experiments, In Annals of the University of Oradea: Fascicle of Management & Technological Engineering, Ed. Universităt, ii din Oradea, 1, 1, 2023.
Redmon, J. and Divvala, S. and Girshick, R. and Farhadi, A (2016) You Only Look Once: Unified, Real-Time Object Detection In Proceedings of the 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 779-788, 2016 https://doi.org/10.1109/CVPR.2016.91
Liu, Wei and Anguelov, Dragomir and Erhan, Dumitru and Szegedy, Christian and Reed, Scott and Fu, Cheng-Yang and Berg, Alexander C (2016) SSD: Single Shot MultiBox Detector In Computer Vision - ECCV 2016, Springer International Publishing 21-37, 2016 https://doi.org/10.1007/978-3-319-46448-0_2
Komorowski, Jacek and Kurzejamski, Grzegorz and Sarwas, Grzegorz (2020) Footandball: Integrated player and ball detector In VISIGRAPP 2020 - Proceedings of the 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 5, 47-56, 2020. https://doi.org/10.5220/0008916000470056
Chilamkurthy, Sasank, Transfer Learning for Computer Vision Tutorial, [Online]. Available: https://pytorch.org/tutorials/beginner/transfer_learning_tutorial.html, Accesed on 24 June 2024.
Chakraborty, Devjyoti, Training an object detector from scratch in Py- Torch, [Online]. Available: https://pyimagesearch.com/2021/11/01/ training-an-object-detector-from-scratch-in-pytorch/, Accesed on 24 June 2024.
Paradis, Doug, L298N Motor Driver Board - Drive Modes, [Online]. Available: https://www. dprg.org/l298n-motor-driver-board-drive-modes/, Accesed on 25 June 2024.
Additional Files
Published
Issue
Section
License
Copyright (c) 2024 Vlad Ovidiu Mihalca, Ovidiu Moldovan, Ianina Țarcă, Daniel Anton, Dan Noje
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
ONLINE OPEN ACCES: Acces to full text of each article and each issue are allowed for free in respect of Attribution-NonCommercial 4.0 International (CC BY-NC 4.0.
You are free to:
-Share: copy and redistribute the material in any medium or format;
-Adapt: remix, transform, and build upon the material.
The licensor cannot revoke these freedoms as long as you follow the license terms.
DISCLAIMER: The author(s) of each article appearing in International Journal of Computers Communications & Control is/are solely responsible for the content thereof; the publication of an article shall not constitute or be deemed to constitute any representation by the Editors or Agora University Press that the data presented therein are original, correct or sufficient to support the conclusions reached or that the experiment design or methodology is adequate.
