Line follower using fuzzy controller based on computational vision
Abstract
War, automation of industrial processes and space exploration motivated the development of technological tools aimed at solving these problems. From this perspective, a mobile robotic system capable of using user-built paths based on computational vision was proposed. This work uses images to identify the path and provide inputs to the fuzzy controller. Tests were performed comparing the movement of the robot with the ideal path in order to evaluate controller behavior and to validate the system created besides bringing improvements to the efficiency of the same.
References
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Elhady, W. E., Elnemr, H. A., and Selim, G. (2014). Implementation and evaluation of image processing techniques on a vision navigation line follower robot.
Freitas, R. F., Costa, R. C. S., da Silva Barros, A. C., da Silva Siqueira, R., Cortez, P. C., and Soares, J. M. (2007). Algoritmos para segmentac¸ao da pele utilizando modelos de cores rgb em ambiente matlab/simulink. Conexoes-Ciencia e Tecnologia, 1(1):65–71.
Gonzalez, R. C. and Woods, R. C. (2009). Processamento digital de imagens. Pearson Educacion.
Howard, A. and Seraji, H. (2001). An intelligent terrain-based navigation system for planetary rovers. IEEE Robotics & Automation Magazine, 8(4):9–17.
Ismail, A., Ramli, H., Ahmad, M., and Marhaban, M. (2009). Vision-based system for line following mobile robot. In Industrial Electronics & Applications, 2009. ISIEA 2009. IEEE Symposium on, volume 2, pages 642–645. IEEE.
Keane, J. F. and Carr, S. S. (2013). A brief history of early unmanned aircraft. Johns Hopkins APL Technical Digest, 32(3):558–571.
Lee, C.-C. (1990). Fuzzy logic in control systems: fuzzy logic controller. i e ii. IEEE Transactions on systems, man, and cybernetics, 20(2):404–418.
Mamdani, E. H. (1976). Application of fuzzy logic to approximate reasoning using linguistic synthesis. In Proceedings of the sixth international symposium on Multiple valued logic, pages 196–202. IEEE Computer Society Press.
Marques Filho, O. and Neto, H. V. (1999). Processamento digital de imagens. Brasport. Niku, S. B. (2013). Introducao a robotica. Grupo Gen-LTC.
Pereira, J. et al. (2003). Avaliacao e correcao do modelo cinematicio de robos moveis visando a reducao de erros no seguimento de trajetorias.
Ramirez-Cortes, J., Gomez-Gil, P., Martinez-Carballido, J., and Lopez-Larios, F. (2011). Sistema de navegacion autonoma de un vehiculo usando vision robotica y control difuso en labview. Ingenieria, investigacion y tecnologia, 12(2):129–136.
Reuss, R. F. and Lee, T.-M. (2001). Fuzzy logic control in a line following robot. Class Notes of University of Nevada at Reno.
Shaw, I. S. (1999). Controle e modelagem fuzzy. Edgard Blucher.
Silva, L. R. d. et al. (2003). Analise e programacao de robos moveis autonomos da plataforma eyebot.
Zadeh, L. A. (1965). Information and control. Fuzzy sets, 8(3):338–353.
Published
2018-08-22
How to Cite
DIAS, Vinícius; JUNIORF, Luiz.
Line follower using fuzzy controller based on computational vision. In: REGIONAL SCHOOL ON COMPUTING OF BAHIA, ALAGOAS, AND SERGIPE (ERBASE), 18. , 2018, Aracaju.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2018
.
p. 376-385.
