Visual servoing of mobile microrobot with centralized camera

Gandjar Kiswanto, Mohamad Safhire, Reza Afrianto, Rifkie Nurcahya

Research output: Contribution to journalConference articlepeer-review


In this paper, a mechanism of visual servoing for mobile microrobot with a centralized camera is developed. Especially for the development of swarm AI applications. In the fields of microrobots the size of robots is minimal and the amount of movement is also small. By replacing various sensors that is needed with a single centralized vision sensor we can eliminate a lot of components and the need for calibration on every robot. A study and design for a visual servoing mobile microrobot has been developed. This system can use multi object tracking and hough transform to identify the positions of the robots. And can control multiple robots at once with an accuracy of 5-6 pixel from the desired target.

Original languageEnglish
Article number02001
JournalMATEC Web of Conferences
Publication statusPublished - 26 Feb 2018
Event4th International Conference on Mechatronics and Mechanical Engineering, ICMME 2017 - Kuala Lumpur, Malaysia
Duration: 28 Nov 201730 Nov 2017


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