TY - JFULL AU - Hazim Abdulsada PY - 2015/2/ TI - Underneath Vehicle Inspection Using Fuzzy Logic, Subsumption and OpenCV Library T2 - International Journal of Mechanical and Mechatronics Engineering SP - 101 EP - 107 VL - 9 SN - 1307-6892 UR - https://publications.waset.org/pdf/10000169 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 97, 2015 N2 - The inspection of underneath vehicle system has been given significant attention by governments after the threat of terrorism become more prevalent. New technologies such as mobile robots and computer vision are led to have more secure environment. This paper proposed that a mobile robot like Aria robot can be used to search and inspect the bombs under parking a lot vehicle. This robot is using fuzzy logic and subsumption algorithms to control the robot that movies underneath the vehicle. An OpenCV library and laser Hokuyo are added to Aria robot to complete the experiment for under vehicle inspection. This experiment was conducted at the indoor environment to demonstrate the efficiency of our methods to search objects and control the robot movements under vehicle. We got excellent results not only by controlling the robot movement but also inspecting object by the robot camera at same time. This success allowed us to know the requirement to construct a new cost effective robot with more functionality. ER -