RESEARCH PAPER
A Vision-Based Line-Following Mobile Robot Utilizing Fuzzy Logic Control and Automatic Gamma Correction
1
Faculty of Automation Engineering, Can Tho University, Viet Nam
2
Faculty of Mechanical Engineering, Can Tho University of Technology, Viet Nam
3
Faculty of Mechanical Engineering, Can Tho University, Viet Nam
4
Department of Mechanical Engineering, National Central University, Taiwan
Submission date: 2026-01-19
Final revision date: 2026-05-13
Acceptance date: 2026-05-17
Publication date: 2026-06-25
Corresponding author
Tu Dinh NGUYEN
Faculty of Mechanical Engineering, Can Tho University of Technology, Nguyen Van Cu, 90000, Can Tho city, Viet Nam
Faculty of Mechanical Engineering, Can Tho University of Technology, Nguyen Van Cu, 90000, Can Tho city, Viet Nam
Acta Mechanica et Automatica 2026;20(2):489-497
HIGHLIGHTS
- Robustness to Complex Trajectories
- Off-Board Processing Architecture
- Dual-Input Fuzzy Logic Control
- Innovative Integration of Gamma Correction
- Enhanced Stability Over Traditional Sensors
KEYWORDS
Otsu’s thresholdingautomatic gamma correctionfuzzy logic controloff-board processingvision-based line-following robotautonomous guided vehicle
TOPICS
ABSTRACT
This study proposes a vision-based line-following robot solution to overcome the limitations of infrared sensors in industrial environments with variable lighting conditions. The system integrates an automatic inverse gamma correction algorithm with Otsu’s thresholding to optimize contrast, ensuring accurate path extraction under diverse light intensities. Leveraging geometric parameters derived from principal component analysis, a Mamdani-type fuzzy logic controller is designed to coordinate movement, maintaining trajectory stability and mitigating mechanical oscillations. A central contribution of this research is the successful implementation of an intelligent control model on a low-cost hardware platform via an off-board processing architecture. Experimental results demonstrate that the system exhibits flexible responsiveness and reliable tracking, effectively overcoming wireless communication latency challenges to ensure operational performance in intralogistics automation tasks.
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| eISSN: | 2300-5319 |
| ISSN: | 1898-4088 |
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