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

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.