Abstract
This paper presents an application of image tracking using an omnidirectional wheeled mobile robot (WMR). The objective of this study is to integrate image processing of hue, saturation, and lightness (HSL) for fuzzy color space, and use mean shift tracking for object detection and a Radio Frequency Identification (RFID) reader for confirming destination. Fuzzy control is applied to omnidirectional WMR for indoor patrol and intruder detection. Experimental results show that the proposed control scheme can make the WMRs perform indoor security service.
Highlights
With the development of human civilization and technologies, human life has changed a lot in the past few decades
The contributions of this study are as follows: the proposed control scheme can control omnidirectional wheeled mobile robot (WMR) to search and track moving objects with real-time image processing and plan a path automatically; the Radio Frequency Identification (RFID) reader identifies destination again when omnidirectional WMR moves forward to the destination; obstacles avoidance is controlled by a fuzzy controller; intruders can be tracked by the mean shift algorithm, and the image of the intruder can be sent to the control center via Wi-Fi communications from the robot; and the proposed dual robot patrol system can perform indoor security service and release human resources
We propose an intelligent scheme based on fuzzy control, RFID, image processing, fuzzy color classification, and mean shift tracking to control omnidirectional WMR for indoor patrol
Summary
With the development of human civilization and technologies, human life has changed a lot in the past few decades. Juang presented wheeled mobile robot obstacle avoidance and object following control based on real-time image tracking and fuzzy theory [8]. The contributions of this study are as follows: the proposed control scheme can control omnidirectional WMR to search and track moving objects with real-time image processing and plan a path automatically; the RFID reader identifies destination again when omnidirectional WMR moves forward to the destination; obstacles avoidance is controlled by a fuzzy controller; intruders can be tracked by the mean shift algorithm, and the image of the intruder can be sent to the control center via Wi-Fi communications from the robot; and the proposed dual robot patrol system can perform indoor security service and release human resources. Fuzzy control omnidirectional wheeled mobile robot can automatically search for and track moving objects.
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