A Vision-Based Real-Time Mobile Robot Controller Design Based on Gaussian Function for Indoor Environment


DÖNMEZ E. , KOCAMAZ A. F. , DİRİK M.

ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING, cilt.43, ss.7127-7142, 2018 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 43 Konu: 12
  • Basım Tarihi: 2018
  • Doi Numarası: 10.1007/s13369-017-2917-0
  • Dergi Adı: ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING
  • Sayfa Sayıları: ss.7127-7142

Özet

In this study, a visual servoing go-to-goal behavior controller is designed to control a differential drive mobile robot for a static target. Inputs for the controller method are based on a weighted graph or a triangle trigonometry kinematic model. The controller is designed with general Gaussian function by adapting the differential drive mobile robot dynamics. State parameters of dynamics are obtained by processing images in real time. It is aimed to develop an efficient internal sensor-independent visual-based control method. The single-head camera takes image frames from indoor environment. A real-time tracking process tracks the robot and target in sequential frames. The distances between graph nodes or the angles between edges are assigned as main control inputs according to utilized kinematic model. The velocity of wheels is computed for both models by using the general Gaussian function. We compare our method with two classical control methods that are PID and fuzzy-PID. Control of mobile robot has been made with high accuracy by using the designed visual-based controller.