A Practical Study of Intelligent Image-Based Mobile Robot for Tracking Colored Objects  

作　　者：Mofadal Alymani Mohamed Esmail Karar Hazem Ibrahim Shehata 

机构地区：[1]College of Computing and Information Technology,Shaqra University,Shaqra,11961,Saudi Arabia [2]Faculty of Electronic Engineering,Menoufia University,Menouf,32952,Egypt [3]Faculty of Engineering,Zagazig University,Zagazig,44519,Egypt

出　　处：《Computers, Materials & Continua》2024年第8期2181-2197,共17页计算机、材料和连续体（英文）

基　　金：The authors extend their appreciation to the Deanship of Scientific Research at Shaqra University for funding this research work through the Project Number(SU-ANN-2023016).

摘　　要：Object tracking is one of the major tasks for mobile robots in many real-world applications.Also,artificial intelligence and automatic control techniques play an important role in enhancing the performance of mobile robot navigation.In contrast to previous simulation studies,this paper presents a new intelligent mobile robot for accomplishing multi-tasks by tracking red-green-blue(RGB)colored objects in a real experimental field.Moreover,a practical smart controller is developed based on adaptive fuzzy logic and custom proportional-integral-derivative(PID)schemes to achieve accurate tracking results,considering robot command delay and tolerance errors.The design of developed controllers implies some motion rules to mimic the knowledge of experienced operators.Twelve scenarios of three colored object combinations have been successfully tested and evaluated by using the developed controlled image-based robot tracker.Classical PID control failed to handle some tracking scenarios in this study.The proposed adaptive fuzzy PID control achieved the best accurate results with the minimum average final error of 13.8 cm to reach the colored targets,while our designed custom PID control is efficient in saving both average time and traveling distance of 6.6 s and 14.3 cm,respectively.These promising results demonstrate the feasibility of applying our developed image-based robotic system in a colored object-tracking environment to reduce human workloads.

关 键 词：Mobile robot autonomous systems fuzzy logic control real-time image processing 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TP242[自动化与计算机技术—计算机科学与技术]