Object Tracking Using Fuzzy Logic for Khepera-II Robot
نویسنده
چکیده
The objective of this paper is to devise a vision-based control scheme for the Khepera-II robot to achieve efficient object tracking using fuzzy logic. The robot is equipped with a K2D video turret. The algorithm was verified in simulation study by the Webots simulator using a colored ball as the sample object. Pattern recognition was not performed hence the algorithm can be used for tracking the object only when obstacles in the arena are of colors different from the object itself. The developed controller is an open-loop controller with fuzzy rules determined in a supervised way. Triangular fuzzy membership functions were used for this controller.
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