Movement of Trolley Robot using Fuzzy Logic Control and Camshift Algorithms in Following Similar Object

Abstract

An object follower robot could be implemented to a shopping trolley, which should move to follow the right customer, autonomously. Then, the movement of the robot should be developed properly, where differential actuators, a camera, and a processor are attached to the shopping trolley. Since the robot follows the customer behind, so identifying the right customer could be determined based on the cloth color captured by the camera. The robot should maintain the movement to follow the right customer among them who wearing similar color clothes. Here, the camera is connected to Jetson Nano to detect and measure the distance of the trolley toward the customer. Furthermore, DC motors are coupled to the trolley’s wheels as actuators using the differential mechanism. The robot should move smoothly in following the right customer controlled using Fuzzy Logic Control to reconstruct the robot movement. This robot was tested to observe whether the robot can move following the right customer successfully. The result show that the robot can work successfully.