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

Ying Shing Shiao, Ching Wei Wu

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題Fourth International Conference on Machine Vision, ICMV 2011
主出版物子標題Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies
DOIs
出版狀態Published - 2012 二月 27
事件4th International Conference on Machine Vision: Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies, ICMV 2011 - Singapore, Singapore
持續時間: 2011 十二月 92011 十二月 10

出版系列

名字Proceedings of SPIE - The International Society for Optical Engineering
8350
ISSN(列印)0277-786X

Other

Other4th International Conference on Machine Vision: Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies, ICMV 2011
國家Singapore
城市Singapore
期間11-12-0911-12-10

指紋

robots
Mobile Robot
Mobile robots
controllers
Fuzzy Logic Controller
Fuzzy logic
Controller
logic
Controllers
Simulation
simulation
Target
Output
inference
output
Visual Tracking
Robot Navigation
Image recognition
Image Recognition
optical tracking

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

引用此文

Shiao, Y. S., & Wu, C. W. (2012). Design and simulation of an image-based fuzzy tracking controller for a wheeled mobile robot. 於 Fourth International Conference on Machine Vision, ICMV 2011: Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies [83501D] (Proceedings of SPIE - The International Society for Optical Engineering; 卷 8350). https://doi.org/10.1117/12.921131
Shiao, Ying Shing ; Wu, Ching Wei. / Design and simulation of an image-based fuzzy tracking controller for a wheeled mobile robot. Fourth International Conference on Machine Vision, ICMV 2011: Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies. 2012. (Proceedings of SPIE - The International Society for Optical Engineering).
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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.",
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Shiao, YS & Wu, CW 2012, Design and simulation of an image-based fuzzy tracking controller for a wheeled mobile robot. 於 Fourth International Conference on Machine Vision, ICMV 2011: Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies., 83501D, Proceedings of SPIE - The International Society for Optical Engineering, 卷 8350, 4th International Conference on Machine Vision: Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies, ICMV 2011, Singapore, Singapore, 11-12-09. https://doi.org/10.1117/12.921131

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; 卷 8350).

研究成果: Conference contribution

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Shiao YS, Wu CW. Design and simulation of an image-based fuzzy tracking controller for a wheeled mobile robot. 於 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). https://doi.org/10.1117/12.921131