A compact navigation system using image processing and fuzzy control

A visual control system for an unmanned vehicle is developed. The system uses dynamic image processing and fuzzy logic control. It quickly recognizes markers along a road and steers the vehicle. The markers are detected in real time by pipeline processing in the color identification processor and logical filter. The marker sequence is recognized by an improved Hough transform, then fuzzy theory decides the steering angle. To use the information on the movement of the vehicle, the authors constructed fuzzy inference rules on how position changes with time. The authors developed an LSI chip for the logical filter to make the system compact and practical (A4 size×10 cm). This system is mounted on a vehicle, and it steered the vehicle around a test track successfully