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, Türkiye, 15 - 18 Mayıs 2017 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Doi Numarası: 10.1109/siu.2017.7960644
  • Basıldığı Şehir: Antalya
  • Basıldığı Ülke: Türkiye
  • İnönü Üniversitesi Adresli: Evet

Özet

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.