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A Wheeled Mobile Robot Path-Tracking System Based On Image Processing And Adaptive Cmac, Jih-Gau Juang, Ko-Jui Hsu, Chih-Min Lin

Journal of Marine Science and Technology

This study entailed applying image-processing techniques and an intelligent control method to a wheeled mobile robot (WMR) for real-time trajectory recognition and tracking. The WMR was fitted with a charge-coupled device (CCD) camera to capture images of the environment, and the hue-saturationintensity color space was used to classify the color features of the captured images. The WMR calculates the relative position of a target object by using image-processing and edgedetection algorithms. This paper proposes a cerebellar model articulation controller (CMAC) and adaptive CMAC to replace conventional proportional-integral-derivative (PID) controller for guiding the WMR to track a desired path. Moreover, using …