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JACIII Vol.17 No.2 pp. 343-350
doi: 10.20965/jaciii.2013.p0343
(2013)

Paper:

Fuzzy Control of Target Approaching and Object-Grabbing for a Four-Wheeled Vision-Based Mobile Robot

Chih-Hung Wu, I-Sheng Lin, and Ming-Liang Wei

Department of Electrical Engineering, National University of Kaohsiung, 700 Kaohsiung Univ. Road, Nan-Tzu, Kaohsiung 811, Taiwan

Received:
July 30, 2012
Accepted:
January 19, 2013
Published:
March 20, 2013
Keywords:
robotics, fuzzy sets, fuzzy controller, target approaching, object grabbing
Abstract

This paper presents practical experiences in deploying a fuzzy controller on a vision-based fourwheeled mobile robot for target-approaching and object-grabbing. The robot senses the environment using a simple CCD camera in its patrol. One of the robot’s missions is to actuate a mechanical grabber for picking up specific objects detected in its patrol routine. To overcome the control errors caused by physical friction and inertia, a fuzzy controller is designed and implemented for wheel-driving and objectgrabbing. Definitions are presented for fuzzy sets and control rules that consider hardware specifications. The feasibility of the method has been verified under various ground friction. Experiments in the performance of the proposed method are presented and analyzed.

Cite this article as:
Chih-Hung Wu, I-Sheng Lin, and Ming-Liang Wei, “Fuzzy Control of Target Approaching and Object-Grabbing for a Four-Wheeled Vision-Based Mobile Robot,” J. Adv. Comput. Intell. Intell. Inform., Vol.17, No.2, pp. 343-350, 2013.
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