Mobile Robot Navigation Using Open Computer Vision with Fuzzy Controller

摘要

This research presents a fuzzy controller technique in navigation with obstacle avoidance for a general purpose mobile robot in a given global environment with image processing technique using Open Source Computer Vision (OpenCV) library on Visual C++. Fuzzy Logic is used to control the navigation of the robot towards the goal while avoiding obstacles along the way by changing its direction of movement. The positions of the mobile robot, obstacle and the destination are taken into consideration and an overhead camera (above the robot’s environment) is used to gather these necessary information. The images captured are processed using different techniques to get the desired positions and is directly integrated with the fuzzy controller making the algorithm more efficient compared to other vision-guided navigation techniques.