Abstract

This article describes a robot following system, which uses a fuzzy logic unit to generate control sequence. A stereo vision system using low-cost pinhole cameras is proposed for distance and position feedback in the fuzzy logic unit. The proposed robot control system is built on Tamiya Little Trucks. Experimental results are reported in comparison with a previous work using single camera. The results indicate that our proposed approach provides tighter control performances for the robots to follow predefined courses. VDO clips are available at http://www.youtube.com/watch?v= qAL1uYclvGY and http://www.youtube.com/watch?v=yTWgs1NLWVQ. The article presents some promising patents on Stereo Vision System.

Keywords: Fuzzy logic, mobile robot, object tracking, robot following control, Stereo vision, Stereo Vision System, Low-cost Cameras, STEREO VISION PRINCIPLE, Fuzzy membership functions, Stereoscopic image