Color-Based Object Tracking and Following for Mobile Service Robots

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Provided by: International Journal of Innovative Research in Science, Engineering and Technology (IJIRSET)
Topic: Mobility
Format: PDF
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.
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