Design and simulation of an image-based fuzzy tracking controller for a wheeled mobile robot

Ying Shing Shiao; Ching Wei Wu

doi:10.1117/12.921131

12 January 2012 Design and simulation of an image-based fuzzy tracking controller for a wheeled mobile robot

Ying Shing Shiao, Ching Wei Wu

Proceedings Volume 8350, Fourth International Conference on Machine Vision (ICMV 2011): Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies; 83501D (2012) https://doi.org/10.1117/12.921131
Event: Fourth International Conference on Machine Vision (ICMV 11), 2011, Singapore, Singapore

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.

Citation Download Citation

Ying Shing Shiao and Ching Wei Wu "Design and simulation of an image-based fuzzy tracking controller for a wheeled mobile robot", 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); https://doi.org/10.1117/12.921131

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