Real-Time Image Recognition and Path Tracking of a Wheeled Mobile Robot for Taking an Elevator

Abstract

This paper aims to design a wheeled mobile robot for path tracking and for automatically taking an elevator by integrating multiple technologies, including image processing using hue-saturation-value color space, pattern recognition using the adaptive resonance theory (ART), and robot control using a fuzzy cerebellar model articulation controller (FCMAC). The ART is used to recognize the button of the elevator. It is an effective competitive learning rule for figure identification. The FCMAC is used for path tracking. Experimental results demonstrate the proposed control system can drive the wheeled robot to take the elevator automatically.