Abstracto

Color-Based Object Tracking and Following for Mobile Service Robots

Mohamed Abdellatif

A vision based measurement and control system is developed to enable a mobile robot to track and follow an object moving on an indoor flat terrain. A color video camera is fitted on the robot and sends the image via wireless connection to a host computer. The object image is continuously grabbed and the target color is extracted and used for target detection. The target image is processed to measure object motion parameters and then send a control signal back to drive and steer the mobile service robot. A Fuzzy Logic Controller, FLC, is designed to control the vehicle steering based on the information measured from the image. An experimental program is carried out to explore the system performance. The experimental results are evaluated and it was clearly shown that the system is robust and effective in tracking the target. The FLC is efficient and causes the system to tolerate noise and uncertainties in the target detection