Trajectory planning for a robotic mobile using fuzzy c-means and machine vision

This article describes the development of a trajectory planning system which controls the movement of a tele-commanded mobile robot through machine vision techniques and fuzzy algorithms. Using a conventional camera, the scene in which the mobile is moving is captured. Then, by means of image processing techniques, the obstacles are segmented and using a variation of the fuzzy c-means algorithm, the possible paths to follow are delimited. The communication between the mobile and the central control system on a PC is done wirelessly via XBEE, so that the robot moves locally using a microcontroller. Using the developed algorithm it is possible to get a direct travel path without crashes, in which it is possible to vary the number of obstacles and where the traveling time is minimized.