A Vision-Based Vehicle Follower Navigation Using Fuzzy Logic Controller
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 controll...
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2017
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my-usm-ep.467522021-11-17T03:42:15Z A Vision-Based Vehicle Follower Navigation Using Fuzzy Logic Controller 2017-08-01 Saleh, Nurul Izzati Mohd. T Technology TK1-9971 Electrical engineering. Electronics. Nuclear engineering 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/46752/ http://eprints.usm.my/46752/1/A%20Vision-Based%20Vehicle%20Follower%20Navigation%20Using%20Fuzzy%20Logic%20Controller.pdf application/pdf en public masters Universiti Sains Malaysia Pusat Pengajian Kejuruteraan Elektrik & Elektronik |
| institution |
Universiti Sains Malaysia |
| collection |
USM Institutional Repository |
| language |
English |
| topic |
T Technology T Technology |
| spellingShingle |
T Technology T Technology Saleh, Nurul Izzati Mohd. A Vision-Based Vehicle Follower Navigation Using Fuzzy Logic Controller |
| 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 |
Saleh, Nurul Izzati Mohd. |
| author_facet |
Saleh, Nurul Izzati Mohd. |
| author_sort |
Saleh, Nurul Izzati Mohd. |
| title |
A Vision-Based Vehicle Follower Navigation Using Fuzzy Logic Controller |
| title_short |
A Vision-Based Vehicle Follower Navigation Using Fuzzy Logic Controller |
| title_full |
A Vision-Based Vehicle Follower Navigation Using Fuzzy Logic Controller |
| title_fullStr |
A Vision-Based Vehicle Follower Navigation Using Fuzzy Logic Controller |
| title_full_unstemmed |
A Vision-Based Vehicle Follower Navigation Using Fuzzy Logic Controller |
| title_sort |
vision-based vehicle follower navigation using fuzzy logic controller |
| granting_institution |
Universiti Sains Malaysia |
| granting_department |
Pusat Pengajian Kejuruteraan Elektrik & Elektronik |
| publishDate |
2017 |
| url |
http://eprints.usm.my/46752/1/A%20Vision-Based%20Vehicle%20Follower%20Navigation%20Using%20Fuzzy%20Logic%20Controller.pdf |
| _version_ |
1747821723120566272 |