Martins, Allan de MedeirosPereira, Rafael Cardoso2017-08-092017-08-092017-06-21PEREIRA, Rafael Cardoso. Técnica de rastreamento e perseguição de alvo utilizando o algoritmo Haar cascade aplicada a robôs terrestres com restrições de movimento. 2017. 104f. Dissertação (Mestrado em Engenharia Mecatrônica) - Centro de Tecnologia, Universidade Federal do Rio Grande do Norte, Natal, 2017.https://repositorio.ufrn.br/jspui/handle/123456789/23739The ability to follow or move along with a specified moving person or object, is a necessary skill in several autonomous agents. Such agents are widely used to perform various tasks in everyday life, and they can be applied either in everyday tasks, such as in supermarket carts or cleaning environments, as well in high-risk tasks like large industries or autonomous cars. The idea presented here is to develop a target tracking and following method applicable to mobile wheeled land robots that have restrictions on their movement, which means that standard control techniques cannot always be applied. The work developed here also takes into account the use of a target detection technique that can be adapted to practically any type of target stipulated by the designer according to the needs of its application. The development of the proposed methods is accomplished by adding standard recognition techniques used in common RGB type cameras, position estimation and orientation techniques, and intelligent control algorithms, with a low computational cost, applicable to robots with movement restrictions.Acesso AbertoVisão computacionalDetecção de alvoEstimativa de configuraçãoClassificadores cascataControle não-holonômicoControle com restriçõesGeração de caminhosmasterThesisCNPQ::ENGENHARIAS: ENGENHARIA MECATRÔNICA