Real-time image recognition and path tracking of a wheeled mobile robot for taking an elevator

Jih Gau Juang, Chia Lung Yu, Chih Min Lin, Rong Guan Yeh, Imre J. Rudas

Research output: Contribution to journalArticle

8 Citations (Scopus)


This paper aims to design a wheeled mobile robot for path tracking and for automatically taking an elevator by integrating multiple technologies, including image processing using hue-saturation-value color space, pattern recognition using the adaptive resonance theory (ART), and robot control using a fuzzy cerebellar model articulation controller (FCMAC). The ART is used to recognize the button of the elevator. It is an effective competitive learning rule for figure identification. The FCMAC is used for path tracking. Experimental results demonstrate the proposed control system can drive the wheeled robot to take the elevator automatically.

Original languageEnglish
Pages (from-to)5-23
Number of pages19
JournalActa Polytechnica Hungarica
Issue number6
Publication statusPublished - 2013



  • Adaptive resonance theory
  • Fuzzy CMAC
  • Pattern recognition
  • Wheeled mobile robot

ASJC Scopus subject areas

  • Engineering(all)

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