Fuzzy logic based mobile robot target tracking in dynamic hostile environment

摘要

With the increasing number of applications, mobile robots are required to work under challenging conditions where the environment is cluttered with moving obstacles and hostile regions. In this paper we propose a fuzzy logic based control system for mobile robot target tracking and obstacle avoidance in a dynamic hostile environment. Given the existing body of research results in the field of obstacle avoidance and path planning, which is reviewed in this context, particular attention is paid to integrate computer vision based sensing mechanisms to robust fuzzy logic based navigation control method. Depth and colour information for both navigation and target tracking are to be captured using a Asus Xtion PRO sensor, which provides RGB colour and 3D depth imaging data. The fuzzy logic based navigation control algorithm is implemented to control obstacle avoidance, hostile region avoidance and target tracking. The effectiveness of the proposed approach was verified through several experiments, which demonstrates the feasibility of a fuzzy target tracker as well as the extensible obstacle and hostile region avoidance system.