文章基本信息

标题：Color-Based Object Tracking and Following for Mobile Service Robots
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作者：Mohamed Abdellatif
期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2013
卷号：2
期号：11
页码：5921
出版社：S&S Publications
摘要：A vision based measurement and control system is developed to enable a mobile robot to track and follow anobject moving on an indoor flat terrain. A color video camera is fitted on the robot and sends the image via wirelessconnection to a host computer. The object image is continuously grabbed and the target color is extracted and used fortarget detection. The target image is processed to measure object motion parameters and then send a control signal backto drive and steer the mobile service robot. A Fuzzy Logic Controller, FLC, is designed to control the vehicle steeringbased on the information measured from the image. An experimental program is carried out to explore the systemperformance. The experimental results are evaluated and it was clearly shown that the system is robust and effective intracking the target. The FLC is efficient and causes the system to tolerate noise and uncertainties in the target detection.
关键词：Service Robot; Visual Navigation; Object Tracking; Color Tracking