A real-time object tracking by using fuzzy controller for vision-based mobile robot

摘要

In this study, a real-time object tracking application based on robot vision is presented. The developed robot has features that enable it to be utilized also in expedition, security, object-based indoor navigation and observational activities. Enabling the autonomous motion of this vision-based mobile robot, by just using robot vision methods and fuzzy logic control was the aim of the study. A vision-based object tracking algorithm, conventional PD control algorithm and fuzzy control are used and compared in study. The robot system focused on fuzzy control and image based control which is useful as a test bench tool for graduate and undergraduate students who are interested in robot control and image processing.   Keywords: Mobile robot, robot vision, fuzzy control, real-time control, objects tracking.