A VOR-based vision tracking system using fuzzy logic control

Kwangsoo Kim, Yongsoon Eun, Jaehong Park, Chang Hun Lee, Dong Il Dan Cho

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a vision tracking system which turns a camera towards a selected target under dynamic situations to achieve high recognition performance of a mobile robot. This feature is realized by a fuzzy logic controller calculating the camera turning angles to counteract the robot motion by estimating the motion of a mobile robot with information obtained from MEMS inertial sensors, wheel encoders, and a vision system. The controller can also detect efficiently any slips occurred while a robot moves. The proposed vision tracking system mainly consists of a sensor module and a pan motioned driving module with a camera installed. The proposed system is implemented on a mobile robot and evaluated experimentally, which shows that the developed system achieved the excellent tracking and recognition performance under various scenarios, especially during slip or collision occurrences under dynamic circumstances.

Original languageEnglish
Title of host publication2011 Canadian Conference on Electrical and Computer Engineering, CCECE 2011
Pages516-519
Number of pages4
DOIs
StatePublished - 2011
Event2011 Canadian Conference on Electrical and Computer Engineering, CCECE 2011 - Niagara Falls, ON, Canada
Duration: 8 May 201111 May 2011

Publication series

NameCanadian Conference on Electrical and Computer Engineering
ISSN (Print)0840-7789

Conference

Conference2011 Canadian Conference on Electrical and Computer Engineering, CCECE 2011
Country/TerritoryCanada
CityNiagara Falls, ON
Period8/05/1111/05/11

Keywords

  • Fuzzy logic control
  • Mobile robot
  • Sensor fusion
  • Vision tracking

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