Development of Image Processing Based Line Tracking Systems for Automated Guided Vehicles with ANFIS and Fuzzy Logic

Ahmet Yüksek; Ahmet Utku Elik

doi:10.17776/csj.1366104

EN

Development of Image Processing Based Line Tracking Systems for Automated Guided Vehicles with ANFIS and Fuzzy Logic

Abstract

Automated Guided Vehicles (AGVs) are robotic vehicles with the ability to move using mapping and navigation technologies to perform tasks assigned to them, guided by guides. Using sensor data such as laser scanners, cameras, magnetic stripes or colored stripes, they can sense their environment and move safely according to defined routes. The basic requirement of motion planning is to follow the path and route with minimum error even under different environmental factors. The key factor here is the most successful detection of the guiding structure of a system moving on its route. The proposed system is to equip a mechanical system that can produce very fast outputs and autonomous motion as a result of combining different algorithms with different hardware structures. In the line detection process, the wide perspective image from the camera is designed to be gradually reduced and converted into image information that is more concise but representative of the problem in a narrower perspective. In this way, the desired data can be extracted with faster processing over less information. In this study, the image information is divided into two parts and planned as two different sensors. The fact that the line information was taken from two different regions of the image at a certain distance enabled the detection of not only the presence of the line but also the flow direction. With the fuzzy system, the performance of the system was increased by generating PWM values on two different hardware structures, loading image capture, image processing processes and driving the motors. In order to determine the membership function parameters of the fuzzy system for each input, the ANFIS approach was used on the data set modeling the system. The outputs produced by the ANFIS model were combined into a single fuzzy system with two outputs from the system rules framework and the system was completed. The success of the algorithms was ensured by partitioning the task distribution in the hardware structure. With its structure and success in adapting different technologies together, a system that can be recommended for similar problems has been developed.

Keywords

References

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Details

Primary Language

English

Subjects

Statistics (Other)

Journal Section

Research Article

Authors

Ahmet Yüksek ^*
0000-0001-7709-6360
Türkiye

Ahmet Utku Elik
0009-0009-0298-9944
Türkiye

Publication Date

December 28, 2023

Submission Date

September 25, 2023

Acceptance Date

November 22, 2023

Published in Issue

Year 2023 Volume: 44 Number: 4

DOI

https://doi.org/10.17776/csj.1366104

IZ

https://izlik.org/JA25GR67TA

Cite

RIS / Bibtex

APA

Yüksek, A., & Elik, A. U. (2023). Development of Image Processing Based Line Tracking Systems for Automated Guided Vehicles with ANFIS and Fuzzy Logic. Cumhuriyet Science Journal, 44(4), 799-815. https://doi.org/10.17776/csj.1366104

AMA

1.Yüksek A, Elik AU. Development of Image Processing Based Line Tracking Systems for Automated Guided Vehicles with ANFIS and Fuzzy Logic. CSJ. 2023;44(4):799-815. doi:10.17776/csj.1366104

Chicago

Yüksek, Ahmet, and Ahmet Utku Elik. 2023. “Development of Image Processing Based Line Tracking Systems for Automated Guided Vehicles With ANFIS and Fuzzy Logic”. Cumhuriyet Science Journal 44 (4): 799-815. https://doi.org/10.17776/csj.1366104.

EndNote

Yüksek A, Elik AU (December 1, 2023) Development of Image Processing Based Line Tracking Systems for Automated Guided Vehicles with ANFIS and Fuzzy Logic. Cumhuriyet Science Journal 44 4 799–815.

IEEE

[1]A. Yüksek and A. U. Elik, “Development of Image Processing Based Line Tracking Systems for Automated Guided Vehicles with ANFIS and Fuzzy Logic”, CSJ, vol. 44, no. 4, pp. 799–815, Dec. 2023, doi: 10.17776/csj.1366104.

ISNAD

Yüksek, Ahmet - Elik, Ahmet Utku. “Development of Image Processing Based Line Tracking Systems for Automated Guided Vehicles With ANFIS and Fuzzy Logic”. Cumhuriyet Science Journal 44/4 (December 1, 2023): 799-815. https://doi.org/10.17776/csj.1366104.

JAMA

1.Yüksek A, Elik AU. Development of Image Processing Based Line Tracking Systems for Automated Guided Vehicles with ANFIS and Fuzzy Logic. CSJ. 2023;44:799–815.

MLA

Yüksek, Ahmet, and Ahmet Utku Elik. “Development of Image Processing Based Line Tracking Systems for Automated Guided Vehicles With ANFIS and Fuzzy Logic”. Cumhuriyet Science Journal, vol. 44, no. 4, Dec. 2023, pp. 799-15, doi:10.17776/csj.1366104.

Vancouver

1.Ahmet Yüksek, Ahmet Utku Elik. Development of Image Processing Based Line Tracking Systems for Automated Guided Vehicles with ANFIS and Fuzzy Logic. CSJ. 2023 Dec. 1;44(4):799-815. doi:10.17776/csj.1366104

Cited By

ANFIS-Driven Optimization of Indoor Navigation Systems for Automated Guided Vehicles Utilizing UWB Signals

Sivas Cumhuriyet Üniversitesi Mühendislik Fakültesi Dergisi

https://doi.org/10.66248/cumfad.1680103