Image tracking and anti-collision system for the WMR using fuzzy controllers

This paper proposes the design of fuzzy logic controllers to revolve a wheeled mobile robot (WMR) through digital images, and the design of WMR anti-collision system. After the image processing, the authors utilize the center of object image to design the fuzzy logic controllers that incorporate expert knowledge in terms of 9 linguistic rules to drive the WMR to revolve. By the way, the WMR can execute auto moving and anti-collision via infrared sensors. The program codes of fuzzy logic controllers are implemented on a PC which could send all the motion commands to the WMR by wireless communication.