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.

This journal provides immediate open access to its content on the principle that making research freely available to the public supports a greater global exchange of knowledge.

All articles are published under the Creative Commons Attribution 4.0 International License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are properly credited.

License URL: https://creativecommons.org/licenses/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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