A Position Controller Model on Color-Based Object Tracking using Fuzzy Logic

IAES International Conference on Electrical Engineering, Computer Science and Informatics

电工学;计算机科学

Wibowo, Budi Cahyo^1 ; Ibnu Subroto, Imam Much^1 ; Arifin, Bustanul^1

Electrical Engineering Dept, Sultan Agung Islamic University, Semarang, Indonesia^1

关键词: Conventional control;    Environmental conditions;    Fuzzy logic control;    Fuzzy logic rules;    Object Tracking;    Position controller;    Vision robotics;    Vision technology;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/190/1/012003/pdf
DOI  :  10.1088/1757-899X/190/1/012003

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

Robotics vision is applying technology on the camera to view the environmental conditions as well as the function of the human eye. Colour object tracking system is one application of robotics vision technology with the ability to follow the object being detected. Several methods have been used to generate a good response position control, but most are still using conventional control approach. Fuzzy logic which includes several step of which is to determine the value of crisp input must be fuzzification. The output of fuzzification is forwarded to the process of inference in which there are some fuzzy logic rules. The inference output forwarded to the process of defuzzification to be transformed into outputs (crisp output) to drive the servo motors on the X-axis and Y-axis. Fuzzy logic control is applied to the color-based object tracking system, the system is successful to follow a moving object with average speed of 7.35 cm/s in environments with 117 lux light intensity.