RESUMENEl presente artículo contiene el procedimiento para implementar diferentes técnicas de procesamiento de imágenes y principalmente el algoritmo de esqueletización, con el objetivo de planificar rutas libres de obstáculos para robots móviles mediante una fotografía tomada sobre un área determinada con los obstáculos y el robot (construido con el kit de robótica Lego Mindstorms NXT). Se realiza el debido procesamiento a dicha imagen, para luego, de forma remota, enviar una serie de órdenes vía bluetooth desde un computador usando MATLABm las cuales son generadas por el algoritmo aplicado sobre la imagen ya procesada, con el fin de obtener el desplazamiento de la plataforma móvil a un punto de llegada determinado por el usuario. ABSTRACTThis article contains the procedure to implement different image processing technics, mainly skeletonization algorithm in order to plan obstacle-free routes for mobile robots, using a photograph taken over an area with obstacles and the robot (built with LEGO Mindstorms NXT robotics kit). Processing is performed to that image, to send remotely a series of commands via bluetooth, from a computer using MATLAB; the orders are generated by the algorithm applied to the image already processed, in order to obtain the displacement of the mobile platform to an end point specified by the user.
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