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A vision-based vehicle follower navigation using fuzzy logic controller / Nurul Izzati Mohd. Saleh

A vision-based vehicle follower navigation using fuzzy logic controller_Nurul Izzati Mohd. Saleh _E3_2017_MYMY
Kajian ini membentangkan pendekatan berasaskan visi untuk navigasi pengikut kenderaan darat. Sistem ini menggunakan pengawal logik fuzi untuk mengamudi secara berautonomi. Terdapat dua komponen untuk prototaip ini yang merupakan komponen sistem penglihatan dan komponen penggerak. Komponen sistem penglihatan dikawal oleh mikropemproses Raspberry Pi. Komponen penggerak pula dikawal oleh mikropengawal, Arduino Mega. Sistem penglihatan komponen menggunakan pengesanan Camshift dan pencahayaan tidak konsisten telah dibetulkan menggunakan histogram penyamaan. Parameter ini yang diperolehi daripada kajian rintis yang digunakan untuk mereka bentuk fungsi pengawal logik fuzi serta peraturan-peraturan yang sesuai. Terdapat dua kaedah peraturan fuzi yang diuji. Kaedah pertama iaitu kaedah A menggunakan 15 peraturan logik fuzi manakala kaedah kedua yang merupakan kaedah B memperkenalkan tiga peraturan nilai tambahan kepada 15 peraturan yang sedia ada. Keputusan kajian menunjukkan bahawa kedua-dua kaedah menghasilkan keputusan yang wajar kerana prototaip mampu untuk mengemudi sendiri untuk mengikuti kenderaan utama, dengan Kaedah B menghasilkan hasil yang terbaik. _________________________________________________________________________________ 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.
Contributor(s):
Nurul Izzati Mohd. Saleh - Author
Primary Item Type:
Thesis
Identifiers:
Accession Number : 875008806
Language:
English
Subject Keywords:
actuating; histogram; equalization
Sponsor - Description:
Pusat Pengajian Kejuruteraan Elektrik & Elektronik -
First presented to the public:
8/1/2017
Original Publication Date:
7/17/2020
Previously Published By:
Universiti Sains Malaysia
Place Of Publication:
School of Electrical & Electronic Engineering
Citation:
Extents:
Number of Pages - 138
License Grantor / Date Granted:
  / ( View License )
Date Deposited
2020-07-17 10:18:45.807
Date Last Updated
2020-11-11 23:38:07.809
Submitter:
Mohamed Yunus Yusof

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