Automatic Control of Mini 4WD Based on Localization Using a Camera and Dealing with Communication Delay

Abstract

In this paper, we describe a method for automatically controlling the speed of a mini 4WD car through the localization using image processing. A camera captures images of a mini 4WD car in motion, and its position is estimated from the difference between the background and the captured images. The mini 4WD car is then controlled based on the position of the mini 4WD car and the control rules that are specified in advance. There is a communication delay during the control of the mini 4WD car. This problem is worked around by setting the control rules so that the communication delay is taken into account when the control rules are specified.