Intelligent real time control of mobile robot based on image processing

Tracking control of mobile robots has many research interests among academic researchers [1],[6],[7]. This subject has opened many different aspects of research studies for different purposes such as obstacle avoidance, trajectory tracking, vision based tracking, etc. The results are being used in different autonomous vehicles from autopilot systems to little discovery mobile robots. In this paper a control scheme has been proposed for the first time to control a mobile robot using fuzzy control and image processing approaches in two cascaded loops. The image processing approach is used to estimate the traveled trajectory and configuration-defined as velocity and azimuth- of the mobile robot using special landmarks. Having appropriate feedbacks, the fuzzy controller is used to control the mobile robot at the desired configuration while traveling to the destination point.