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

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

Abstract

This paper presents a simple Fuzzy Logic Controllers (FLC) based control strategy to solve the 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 processing techniques are employed to estimate the target’s position in the image plane. The estimate coordinates are used by a fuzzy logic controller to control the pan-tilt camera angles. The objective is to ensure that the moving target is always at the middle of the camera image plane. A second FLC is used to control the robot orientation and to guarantee the tracking and interception of the target. The proposed pan-tilt camera and robot orientation controllers’ efficiency has been validated by simulation under Matlab using Virtual Reality Toolbox.

Published
2018-06-23
How to Cite
BOUMEHRAZ, Mohamed; HABBA, Zineb; HASSANI, Rafia. Vision Based Tracking and Interception of Moving Target by Mobile Robot Using Fuzzy Control. Journal of Applied Engineering Science & Technology, [S.l.], v. 4, n. 2, p. 159-165, june 2018. ISSN 2571-9815. Available at: <http://revues.univ-biskra.dz/index.php/jaest/article/view/3891>. Date accessed: 10 dec. 2018.
Section
Section A: Electrical, Electronics and Automatic Engineering

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