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Proceedings Paper

Design and simulation of an image-based fuzzy tracking controller for a wheeled mobile robot
Author(s): Ying Shing Shiao; Ching Wei Wu
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Paper Abstract

Image processing algorithms and fuzzy logic method are used to design a visual tracking controller for mobile robot navigation. In this paper, a wheeled mobile robot is equipped with a camera for detecting its task space. The grabbed environmental images are treated using image recognition processing to obtain target's size and position. The images are treated using input membership functions as the fuzzy logic controller input. The recognized target's size and position are input into a fuzzy logic controller in which fuzzy rules are used for inference. The inference results are output to the defuzzifier to obtain a physical control signal to control the mobile robot's movement. The velocity and direction of the mobile robot are the output of fuzzy logic controller. The differences in velocities for two wheels are used to control the robot's movement directions. The fuzzy logic controller outputs the control commands to drive the mobile robot to reach a position 50cm front of the target location. The simulation results verify that the proposed FLC is effective in navigating the mobile robot to track a moving target.

Paper Details

Date Published: 12 January 2012
PDF: 8 pages
Proc. SPIE 8350, Fourth International Conference on Machine Vision (ICMV 2011): Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies, 83501D (12 January 2012); doi: 10.1117/12.921131
Show Author Affiliations
Ying Shing Shiao, National Chang-hua Univ. of Education (Taiwan)
Ching Wei Wu, National Chang-hua Univ. of Education (Taiwan)


Published in SPIE Proceedings Vol. 8350:
Fourth International Conference on Machine Vision (ICMV 2011): Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies
Safaa S. Mahmoud; Zhu Zeng; Yuting Li, Editor(s)

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