Mobile Robot's Road Following Based on Color Vision and FGA Control Strategy

This paper putts forward using CCD camera to recognize color path information and realize vision navigation, which simplifies the image feature abstraction and improves the robust and reliability of path recognition than gray image recognizing. Additional, in this paper, we design new fuzzy control strategy, when the curving extent of path satisfies definite condition, adopting fuzzy control based on Genetic Algorithm (GA) optimizing. With GA off-line optimizing the membership function parameters of fuzzy controller, consequently, keeps the simple, vivid and fast characters of fuzzy control and strengthens its self-adaptability. This strategy of road following has already been validates on simulation platform and successfully applied on the HEBUT-I intelligent mobile robot. The result proves its validity and feasibility.