A WHEELED MOBILE ROBOT PATH-TRACKING SYSTEM BASED ON IMAGE PROCESSING AND ADAPTIVE CMAC

摘要

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-saturation-intensity 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 edge-detection 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 Lyapunov's stability theory to optimize the learning rate ensures that the proposed control system is stable. The tracking performance of several controllers used to track various path patterns were compared. Finally, according to the theoretical analysis, simulations, and experimental results of this study, the proposed control scheme is effective.