Path Following Fuzzy System for a Nonholonomic Mobile Robot Based on Frontal Camera Information

  • Yoshio RubioEmail author
  • Kenia Picos
  • Ulises Orozco-Rosas
  • Carlos Sepúlveda
  • Enrique Ballinas
  • Oscar Montiel
  • Oscar Castillo
  • Roberto Sepúlveda
Part of the Studies in Computational Intelligence book series (SCI, volume 749)


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.


Autonomous mobile robot Fuzzy controller Image processing Path following Line detection 



We thank Instituto Politecnico Nacional (IPN), to the Comisión de Fomento y Apoyo Académico del IPN (COFAA), and the Mexican National Council of Science and Technology (CONACYT) for supporting our research activities.


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Yoshio Rubio
    • 1
    Email author
  • Kenia Picos
    • 1
  • Ulises Orozco-Rosas
    • 1
  • Carlos Sepúlveda
    • 1
  • Enrique Ballinas
    • 1
  • Oscar Montiel
    • 1
  • Oscar Castillo
    • 2
  • Roberto Sepúlveda
    • 1
  1. 1.Instituto Politécnico NacionalCentro de Investigación y Desarrollo de Tecnología Digital (IPN-CITEDI)TijuanaMexico
  2. 2.Tijuana Institute of TechnologyTijuanaMexico

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