A vision-based vehicle follower Navigation using fuzzy logic Controller/ Nurul Izzati Mohd Saleh

This research presents the vision-based approach to ground vehicle follower navigation. The system utilize fuzzy logic controller to navigate itself. There are two components of the prototype which is the vision system component and the actuating component. The vision system component is controlled...

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Main Author:	Awam, Pusat Pengajian Kejuruteraan
Format:	Thesis
Language:	English
Published:	2017
Subjects:	TA1-2040 Engineering (General) Civil engineering (General)
Online Access:	http://eprints.usm.my/45302/1/24%20Pages%20from%20NURUL%20IZZATI%20MOHD%20SALEH.%20MASTER%20THESIS.pdf
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id	my-usm-ep.45302
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spelling	my-usm-ep.453022019-08-26T08:58:35Z A vision-based vehicle follower Navigation using fuzzy logic Controller/ Nurul Izzati Mohd Saleh 2017-08 Awam, Pusat Pengajian Kejuruteraan TA1-2040 Engineering (General). Civil engineering (General) TL1-484 Motor vehicles. Cycles This research presents the vision-based approach to ground vehicle follower navigation. The system utilize fuzzy logic controller to navigate itself. There are two components of the prototype which is the vision system component and the actuating component. The vision system component is controlled by a microprocessor, Raspberry Pi. The actuating component is controlled by the microcontroller, Arduino Mega. The vision system component utilizes Camshift tracking and the illumination inconsistency is corrected using histogram equalization. The consequent parameters obtained from the pilot test is used to design the appropriate fuzzy membership functions and rules. The are two type of rules tested. The first one which is method A utilized 15 rules of fuzzy logics whereas the second method which is method B introduced three additional hedges rules to the existing 15 rules. The results show that both methods produce desirable results as the prototype is able to navigate itself to follow the lead vehicle with Method B produces the best results. 2017-08 Thesis http://eprints.usm.my/45302/ http://eprints.usm.my/45302/1/24%20Pages%20from%20NURUL%20IZZATI%20MOHD%20SALEH.%20MASTER%20THESIS.pdf application/pdf en public masters Universiti Sains Malaysia Pusat Pengajian Kejuruteraan Awam
institution	Universiti Sains Malaysia
collection	USM Institutional Repository
language	English
topic	TA1-2040 Engineering (General) Civil engineering (General) TA1-2040 Engineering (General) Civil engineering (General)
spellingShingle	TA1-2040 Engineering (General) Civil engineering (General) TA1-2040 Engineering (General) Civil engineering (General) Awam, Pusat Pengajian Kejuruteraan A vision-based vehicle follower Navigation using fuzzy logic Controller/ Nurul Izzati Mohd Saleh
description	This research presents the vision-based approach to ground vehicle follower navigation. The system utilize fuzzy logic controller to navigate itself. There are two components of the prototype which is the vision system component and the actuating component. The vision system component is controlled by a microprocessor, Raspberry Pi. The actuating component is controlled by the microcontroller, Arduino Mega. The vision system component utilizes Camshift tracking and the illumination inconsistency is corrected using histogram equalization. The consequent parameters obtained from the pilot test is used to design the appropriate fuzzy membership functions and rules. The are two type of rules tested. The first one which is method A utilized 15 rules of fuzzy logics whereas the second method which is method B introduced three additional hedges rules to the existing 15 rules. The results show that both methods produce desirable results as the prototype is able to navigate itself to follow the lead vehicle with Method B produces the best results.
format	Thesis
qualification_level	Master's degree
author	Awam, Pusat Pengajian Kejuruteraan
author_facet	Awam, Pusat Pengajian Kejuruteraan
author_sort	Awam, Pusat Pengajian Kejuruteraan
title	A vision-based vehicle follower Navigation using fuzzy logic Controller/ Nurul Izzati Mohd Saleh
title_short	A vision-based vehicle follower Navigation using fuzzy logic Controller/ Nurul Izzati Mohd Saleh
title_full	A vision-based vehicle follower Navigation using fuzzy logic Controller/ Nurul Izzati Mohd Saleh
title_fullStr	A vision-based vehicle follower Navigation using fuzzy logic Controller/ Nurul Izzati Mohd Saleh
title_full_unstemmed	A vision-based vehicle follower Navigation using fuzzy logic Controller/ Nurul Izzati Mohd Saleh
title_sort	vision-based vehicle follower navigation using fuzzy logic controller/ nurul izzati mohd saleh
granting_institution	Universiti Sains Malaysia
granting_department	Pusat Pengajian Kejuruteraan Awam
publishDate	2017
url	http://eprints.usm.my/45302/1/24%20Pages%20from%20NURUL%20IZZATI%20MOHD%20SALEH.%20MASTER%20THESIS.pdf
_version_	1747821483267194880

A vision-based vehicle follower Navigation using fuzzy logic Controller/ Nurul Izzati Mohd Saleh

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