Vision Based Mobile Robot Navigation System

Abstract

The purpose of the vision system is to recognize the circle as landmark and identify the distance and orientation in a series of reference target image automatically fro m the closed -range navigation. In order to identify position in an indoor environment, a mobile robot requires attention to characteristics of a target which is to allow mobile robots to make inference in which the distance and orientation of the target and a robot. In this study, fuzzy logic is applied to generate target trajectory movement with the information extracted fro m vision system such as the distance and the orientation of target. The fuzzy logic controller (FLC) wh ich computes the required speed and angular speed needed by the two motors to drives the robot for target trajectory.