Computer-Aided Mobile Robot Control Based on Visual and Fuzzy Systems

Abstract

This research utilizes a simplified type-2 fuzzy system to a wheeled mobile robot (WMR) for target following control. A CCD camera and ultrasonic sensors are integrated in the control scheme. The wheeled mobile robot can adjust moving path by the position and heading angle, which are given from the camera. Dynamic obstacle avoidance strategy is implemented in fuzzy rules. Distance between the WMR and an obstacle, center coordinate, heading angle, and displacement of the obstacle can all be obtained by image process and distance computation algorithm. Experiments show that the WMR can perform dynamic obstacle avoidance and follow moving object successfully.