Abstract: This study presents the methodology used to develop a navigation system for autonomous robotic vehicles using fuzzy control techniques and the application of computational vision algorithms for tracking a particular mobile object in real time. The developed system consists of a robot of two wheels of differential traction of which its kinematic model is presented, controlled remotely through a closed loop of control. The computer vision technique is used for the perception of the environment through the camera embarked on the vehicle. The technique of fuzzy control is implemented in the system to interpret and make the decisions of action of the robot during navigation in a poorly structured environment in addition to the uncertainties associated to the tracking of the objective through the image. Through, the validations made for the fuzzy control, the desired results are obtained that in this case corresponds to the monitoring of a given objective in real time.
Ruben D. Hernandez B., Giovani Bernardes Vitor, Robinson Ji menez Moreno and Janito Vaqueiro Ferreira, 2018. Fuzzy Control for Navigation of a Mobile Robot Using Real Time Computational Vision. Journal of Engineering and Applied Sciences, 13: 5665-5673.