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

摘要

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.