Vision Based Tracking and Interception of Moving Target by Mobile Robot Using Fuzzy Control


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Authors

  • Mohamed Boumehraz Laboratoire de Modélisation des Systèmes Energétiques (LMSE), Université de Biskra, B.P. 145 R.P. 07000, Biskra, Algeria Author
  • Zineb Habba Laboratoire de Modélisation des Systèmes Energétiques (LMSE), Université de Biskra, B.P. 145 R.P. 07000, Biskra, Algeria Author
  • Rafia Hassani Laboratoire de Modélisation des Systèmes Energétiques (LMSE), Université de Biskra, B.P. 145 R.P. 07000, Biskra, Algeria Author

DOI:

https://doi.org/10.69717/jaest.v4.i2.79

Keywords:

Fuzzy controller, Pan-Tilt, Tracking, Interception, Target, Mobile robot

Abstract

 This paper presents a simple Fuzzy Logic Controllers (FLC) based control strategy to solvethe tracking and interception problem of a moving target by a mobile robot equipped with a pan-tilt camera. Before sending commands to the mobile robot, video acquisition and image processingtechniques are employed to estimate the target’s position in the image plane. The estimatecoordinates are used by a fuzzy logic controller to control the pan-tilt camera angles. The objectiveis to ensure that the moving target is always at the middle of the camera image plane. A secondFLC is used to control the robot orientation and to guarantee the tracking and interception of thetarget. The proposed pan-tilt camera and robot orientation controllers’ efficiency has beenvalidated by simulation under Matlab using Virtual Reality Toolbox.

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Published

2018-06-23

Issue

Vol. 4 No. 2 (2018): JAEST

Section

Research Paper

License

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

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License: Creative Commons Attribution 4.0 International (CC BY 4.0)
License URL: Creative Commons CC BY 4.0

How to Cite

Mohamed Boumehraz, Zineb Habba, & Rafia Hassani. (2018). Vision Based Tracking and Interception of Moving Target by Mobile Robot Using Fuzzy Control. Journal of Applied Engineering Science and Technology, 4(2), 7. https://doi.org/10.69717/jaest.v4.i2.79

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