A Vision-Based Real-Time Mobile Robot Controller Design Based on Gaussian Function for Indoor Environment

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dc.authoridKocamaz, Adnan Fatih/0000-0002-7729-8322
dc.authoridDönmez, Emrah/0000-0003-3345-8344
dc.authoriddirik, mahmut/0000-0003-1718-5075
dc.authorwosidKocamaz, Adnan Fatih/C-2820-2014
dc.authorwosidDirik, Mahmut/AAD-6165-2021
dc.authorwosidDönmez, Emrah/W-2891-2017
dc.authorwosiddirik, mahmut/R-7971-2019
dc.contributor.authorDonmez, Emrah
dc.contributor.authorKocamaz, Adnan Fatih
dc.contributor.authorDirik, Mahmut
dc.date.accessioned2024-08-04T20:45:32Z
dc.date.available2024-08-04T20:45:32Z
dc.date.issued2018
dc.departmentİnönü Üniversitesien_US
dc.description.abstractIn this study, a visual servoing go-to-goal behavior controller is designed to control a differential drive mobile robot for a static target. Inputs for the controller method are based on a weighted graph or a triangle trigonometry kinematic model. The controller is designed with general Gaussian function by adapting the differential drive mobile robot dynamics. State parameters of dynamics are obtained by processing images in real time. It is aimed to develop an efficient internal sensor-independent visual-based control method. The single-head camera takes image frames from indoor environment. A real-time tracking process tracks the robot and target in sequential frames. The distances between graph nodes or the angles between edges are assigned as main control inputs according to utilized kinematic model. The velocity of wheels is computed for both models by using the general Gaussian function. We compare our method with two classical control methods that are PID and fuzzy-PID. Control of mobile robot has been made with high accuracy by using the designed visual-based controller.en_US
dc.description.sponsorshipInonu Universityen_US
dc.description.sponsorshipFunding was provided by Inonu University.en_US
dc.identifier.doi10.1007/s13369-017-2917-0
dc.identifier.endpage7142en_US
dc.identifier.issn2193-567X
dc.identifier.issn2191-4281
dc.identifier.issue12en_US
dc.identifier.scopus2-s2.0-85056256077en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage7127en_US
dc.identifier.urihttps://doi.org/10.1007/s13369-017-2917-0
dc.identifier.urihttps://hdl.handle.net/11616/98532
dc.identifier.volume43en_US
dc.identifier.wosWOS:000449936300030en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSpringer Heidelbergen_US
dc.relation.ispartofArabian Journal For Science and Engineeringen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectVisual servoingen_US
dc.subjectGaussian functionen_US
dc.subjectTriangleen_US
dc.subjectgraph modelsen_US
dc.subjectReal-time controlen_US
dc.titleA Vision-Based Real-Time Mobile Robot Controller Design Based on Gaussian Function for Indoor Environmenten_US
dc.typeArticleen_US

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