Fuzzy angular velocity control of mobile robots using vision system in a corridor

This paper proposes a vision-based simple fuzzy angular velocity control method for mobile robots with vision system in a corridor. To this end, visual information from the camera is obtained as vanishing point and middle point. They are employed for collision free navigation in the corridor. To control the mobile robot in the corridor using vision system, we generate the kinematic model of the system from the image directly, and design the simple fuzzy controller using vanishing point and middle point. The simulation results are included to demonstrate the validity of the proposed method.