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Vision based tracking control of an autonomous mobile robot in an indoor environment

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Main Authors: Mohd Saifizi, Saidon, Hazry, Desa, Assoc. Prof. Dr., Nagarajan, R., Paulraj, M. P.
Other Authors: saifizi@unimap.edu.my
Format: Working Paper
Language:English
Published: IEEE Conference Publications 2014
Subjects:
Mobile robot
Differential steering control
Fuzzy controller
Vision
Autonomous
Navigation
Online Access:http://dspace.unimap.edu.my:80/dspace/handle/123456789/33729
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spelling my.unimap-337292017-11-29T05:07:44Z Vision based tracking control of an autonomous mobile robot in an indoor environment Mohd Saifizi, Saidon Hazry, Desa, Assoc. Prof. Dr. Nagarajan, R. Paulraj, M. P. saifizi@unimap.edu.my hazry@unimap.edu.my Mobile robot Differential steering control Fuzzy controller Vision Autonomous Navigation Link to publisher's homepage at http://ieeexplore.ieee.org/ In this paper, we present a scheme for target acquisition scheme for mobile robot that will use vision sensor. The scheme in order to accurately measures the location of a target in real world coordinates and finds the distance to the target from the mobile robot. Fuzzy logic control laws for differential steering control of the autonomous nonholonomic mobile robot are developed. Certain requirements for the fuzzy logic control laws are presented to chose suitable rule base for the fuzzy logic controller in order to make the system asymptotically stable. The stability of the proposed fuzzy logic controller is theoretically proved and also demonstrated by simulation studies. Finally, the proposed fuzzy logic controller is implemented on the nonholonomic mobile robot and the results show that the proposed fuzzy controller can achieve the desired turning angle and the mobile robot follows the target satisfactorily. 2014-04-17T01:35:56Z 2014-04-17T01:35:56Z 2011 Working Paper 978-1-4577-0337-9 http://dspace.unimap.edu.my:80/dspace/handle/123456789/33729 http://dx.doi.org/10.1109/ICSGRC.2011.5991819 http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5991819&tag=1 en IEEE Conference Publications
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Mobile robot
Differential steering control
Fuzzy controller
Vision
Autonomous
Navigation
spellingShingle Mobile robot
Differential steering control
Fuzzy controller
Vision
Autonomous
Navigation
Mohd Saifizi, Saidon
Hazry, Desa, Assoc. Prof. Dr.
Nagarajan, R.
Paulraj, M. P.
Vision based tracking control of an autonomous mobile robot in an indoor environment
description Link to publisher's homepage at http://ieeexplore.ieee.org/
author2 saifizi@unimap.edu.my
author_facet saifizi@unimap.edu.my
Mohd Saifizi, Saidon
Hazry, Desa, Assoc. Prof. Dr.
Nagarajan, R.
Paulraj, M. P.
format Working Paper
author Mohd Saifizi, Saidon
Hazry, Desa, Assoc. Prof. Dr.
Nagarajan, R.
Paulraj, M. P.
author_sort Mohd Saifizi, Saidon
title Vision based tracking control of an autonomous mobile robot in an indoor environment
title_short Vision based tracking control of an autonomous mobile robot in an indoor environment
title_full Vision based tracking control of an autonomous mobile robot in an indoor environment
title_fullStr Vision based tracking control of an autonomous mobile robot in an indoor environment
title_full_unstemmed Vision based tracking control of an autonomous mobile robot in an indoor environment
title_sort vision based tracking control of an autonomous mobile robot in an indoor environment
publisher IEEE Conference Publications
publishDate 2014
url http://dspace.unimap.edu.my:80/dspace/handle/123456789/33729
_version_ 1643802751306563584
score 13.18916

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