Proc. SPIE. 8350, Fourth International Conference on Machine Vision (ICMV 2011): Computer Vision and Image Analysis; Pattern Recognition and Basic Technologies
KEYWORDS: Detection and tracking algorithms, Cameras, Calibration, Image processing, Mobile robots, Optical tracking, Target recognition, Device simulation, Fuzzy logic, Space robots
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.