Static Path Planning Based on Visual Servoing via Fuzzy Logic

DİRİK M., KOCAMAZ A. F., DÖNMEZ E.

25th Signal Processing and Communications Applications Conference (SIU), Antalya, Turkey, 15 - 18 May 2017, (Full Text) identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/siu.2017.7960644
  • City: Antalya
  • Country: Turkey
  • Inonu University Affiliated: Yes

Abstract

Robot path planning algorithms and vision based solutions have gained importance among the algorithms developed to realize path planning in real time. In this paper, a new vision control model was developed for differential drive robot, using Fuzzy Logic decision sets that are independent of wheel encoder sensors. Real-time robot tracking and navigation was done using colored labels. A kinematic model with a graph based virtual sensor is utilized to develop a different solution to robot control problem.