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.
| Original language | English |
|---|---|
| Title of host publication | Fourth International Conference on Machine Vision, ICMV 2011 |
| Subtitle of host publication | Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies |
| DOIs | |
| Publication status | Published - 2012 Feb 27 |
| Event | 4th International Conference on Machine Vision: Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies, ICMV 2011 - Singapore, Singapore Duration: 2011 Dec 9 → 2011 Dec 10 |
Publication series
| Name | Proceedings of SPIE - The International Society for Optical Engineering |
|---|---|
| Volume | 8350 |
| ISSN (Print) | 0277-786X |
Other
| Other | 4th International Conference on Machine Vision: Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies, ICMV 2011 |
|---|---|
| Country | Singapore |
| City | Singapore |
| Period | 11-12-09 → 11-12-10 |
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All Science Journal Classification (ASJC) codes
- Electronic, Optical and Magnetic Materials
- Condensed Matter Physics
- Computer Science Applications
- Applied Mathematics
- Electrical and Electronic Engineering
Cite this
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Design and simulation of an image-based fuzzy tracking controller for a wheeled mobile robot. / Shiao, Ying Shing; Wu, Ching Wei.
Fourth International Conference on Machine Vision, ICMV 2011: Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies. 2012. 83501D (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 8350).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Design and simulation of an image-based fuzzy tracking controller for a wheeled mobile robot
AU - Shiao, Ying Shing
AU - Wu, Ching Wei
PY - 2012/2/27
Y1 - 2012/2/27
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84863183159&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863183159&partnerID=8YFLogxK
U2 - 10.1117/12.921131
DO - 10.1117/12.921131
M3 - Conference contribution
SN - 9780819490261
T3 - Proceedings of SPIE - The International Society for Optical Engineering
BT - Fourth International Conference on Machine Vision, ICMV 2011
ER -