Fuzzy logic approach for mobile robot in intelligent space

Abstract

This paper introduces the fuzzy logic approach for mobile robot in intelligent space. There are three major algorithms involved. They are object classification, object tracking and obstacle avoidance. The inputs are received from cameras which are mounted on a ceiling. The main idea of the object classification is to classify objects into three categories depending upon their colors; the categories are mobile robot, destination and obstacle position. These categories are represented by X symbol with different colors. This system is to “teach” and “train” the mobile robot proceeding to destination without hitting the obstacle. The mobile robot is autonomous; that means, it could be pursuing to the target position automatically without user guidance. In this project, fuzzy logic is used to guide the mobile robot direction until it reaches the target position. This system is generated in real-time and suitable for indoor environment applications. One of the advantages of this project is that it only uses, a camera and image processing generated by the algorithms itself without additional sensor such as sonar or IR sensor.