Fuzzy Controlled Robot Platform Tracking System

  • Mohamad Alshahadat
  • Bülent BilgehanEmail author
  • Hisham Salim Alomsafer
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1095)


The paper aims to introduce a fuzzy controlled tracking method using video structure analysis in MATLAB. The method uses a single overhead camera to record the trajectory and the distance traveled by the object under the test. The input is the video/image data, which is obtained by the camera and interfaced to the computer. The structure analysis decomposes the video into X-Y coordinate system divided into nine frames which includes information about their colors, positions, shapes, and movements. As the object moves vertically and horizontally, a control signal is generated. The generated signal is passed to the controller via RS232. The method uses MATLAB software for image processing.

The computer software enables to detect and track the object by moving the camera in the direction of the detected object. The object detection is based on the color or shape. The computer software employed performed four main functions: (1) image correction, (2) localization through the identification process, (3) user-defined “terminal points”, and (4) user-conducted conversion (converts pixel values to match the real-world distances). The precision and accuracy analysis of the method provided. A real-world application test produced accurate results.


Object tracking Color detection Robot platform Fuzzy control 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Computer Engineering, Faculty of EngineeringUniversity of KyreniaGirne, Mersin 10Turkey
  2. 2.Department of Electrical and Electronic Engineering, Faculty of EngineeringNear East UniversityNicosia, TRNC, Mersin 10Turkey

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