Path following fuzzy system for a nonholonomic mobile robot based on frontal camera information

Yoshio Rubio, Kenia Picos, Ulises Orozco-Rosas, Carlos Sepúlveda, Enrique Ballinas, Oscar Montiel, Oscar Castillo, Roberto Sepúlveda

Research output: Chapter in Book/Report/Conference proceedingChapter

3 Scopus citations


This work proposes a fuzzy approach for path following of a nonholonomic mobile robot, based on the information of a frontal camera. The proposed methodology is divided in three stages. The first stage gets the image of the frontal camera and processes the image to detect and isolate the desired path to follow and eliminate non-useful information. The second stage estimates the orientation for different sections of the path to follow. Finally, in the last stage, a fuzzy system is designed and simulated to control the steering direction of the mobile robot. We show the design, simulations, and experiments using the fuzzy controller. The results are evaluated and discussed in terms of quantitative metrics.

Original languageEnglish
Title of host publicationStudies in Computational Intelligence
PublisherSpringer Verlag
Number of pages18
StatePublished - 1 Jan 2018
Externally publishedYes

Publication series

NameStudies in Computational Intelligence
ISSN (Print)1860-949X



  • Autonomous mobile robot
  • Fuzzy controller
  • Image processing
  • Line detection
  • Path following

Cite this

Rubio, Y., Picos, K., Orozco-Rosas, U., Sepúlveda, C., Ballinas, E., Montiel, O., Castillo, O., & Sepúlveda, R. (2018). Path following fuzzy system for a nonholonomic mobile robot based on frontal camera information. In Studies in Computational Intelligence (pp. 223-240). (Studies in Computational Intelligence; Vol. 749). Springer Verlag.