Machine vision system, robot hardware design and fuzzy controller design for autonomous multi-agent mobile robot platform

In this paper we present the machine vision system and the hardware design of our mobile robot with the design of the fuzzy controller. This paper describes the implementation of robot's position and tracking with a use of a vision system. The ground truth data is obtained by the overhead camera over the setup to track the current position of the robot. The process in the camera includes robot detection, image to coordinate transformation, and background subtraction. Several positions were chosen to test the vision system and tracking of the mobile robot using Roborealm. The hardware design of the mobile robot is presented using Sketch Up Pro. The overall dimension was limited to 7.5 cm × 7.5 cm × 7.5 cm in compliance with the standard of the Federation of International Robot-Soccer Association for Micro-soccer Robot World Tournament.