Optimized fuzzy tracking of a moving object with a Robbie eye system

Other Title(s)

المتحكم المثالي الضبابي لتتبع الأجسام المتحركة عن طريق نظام العين الألية

Dissertant

al-Ustaz, Ahmad S. A.

Thesis advisor

Hamad, Basil Mahmud

Comitee Members

al-Aydi, Hatim Ali
Abu Hadrus, Iyad Muhammad Ayyub

University

Islamic University

Faculty

Faculty of Engineering

Department

Electrical Engineering Department

University Country

Palestine (Gaza Strip)

Degree

Master

Degree Date

2014

English Abstract

Fuzzy proportional-integral-derivative (FP1D) controller is used to control the robot eye, that has two degree of freedom(2DOF), to achieve a real time video object tracking.

The controller uses vision-based object tracking as feedback and generates velocity commands for the robot eye in order to keep the object of interest (OBI) in video at the center of the image frame.

Because of the nonlinearity of the proposed system, conventional PID controller is not optimal controller as shown in the results of comparison which is presented between FPID and PID for controlling the robot eye in real time .

The particle filter (PF) is used to track OBI in video by estimating its position in image frame.

A new optimized bootstrap particle filter (OBPF) is introduced solving problem of particle filter on video object tracking for rigid motion.

The comparison among OPF,PF-BFO and PF-PSO for video object tracking is presented in this work by using Matlab program.

The results show that OPF method presents outstanding pe^ormance versus PF-PSO and PF-BFO A new adaptive optimized bootstrap particle filter (AOBPF) is introduced for tracking object that has variable speed.

The comparison between OPF and AOPF for video object tracking in real time is tackled in this research.

The results show that AOBPF is more robust.

The robot eye which is presented by the researcher is a webcam and two servo motors.

Besides, video object tracking is implemented by using OpenCV.

Furthermore, FPID controller is implemented by using visual C++.

In addition, Arduino platform is used to communicate with visual C++ by using universal serial bus (USB) and to drive the two servomotors of robot eye.

Main Subjects

Electronic engineering

Topics

No. of Pages

52

Table of Contents

Table of contents.

Abstract.

Abstract in Arabic.

Chapter One : Introduction.

Chapter Two : Optmization theroy.

Chapter Three : Particle filter.

Chapter Four : Video object tracking.

Chapter Five : The robot eye design and results.

Chapter Six : Conclusions.

References.

American Psychological Association (APA)

al-Ustaz, Ahmad S. A.. (2014). Optimized fuzzy tracking of a moving object with a Robbie eye system. (Master's theses Theses and Dissertations Master). Islamic University, Palestine (Gaza Strip)
https://search.emarefa.net/detail/BIM-530067

Modern Language Association (MLA)

al-Ustaz, Ahmad S. A.. Optimized fuzzy tracking of a moving object with a Robbie eye system. (Master's theses Theses and Dissertations Master). Islamic University. (2014).
https://search.emarefa.net/detail/BIM-530067

American Medical Association (AMA)

al-Ustaz, Ahmad S. A.. (2014). Optimized fuzzy tracking of a moving object with a Robbie eye system. (Master's theses Theses and Dissertations Master). Islamic University, Palestine (Gaza Strip)
https://search.emarefa.net/detail/BIM-530067

Language

English

Data Type

Arab Theses

Record ID

BIM-530067