Journal of Theoretical and Applied Information Technology 20 th September 2013. Vol. 55 No.2 © 2005 - 2013 JATIT & LLS. All rights reserved . ISSN: 1992-8645 www.jatit.org E-ISSN: 1817-3195 183 AUTONOMOUS MOBILE ROBOT VISION BASED SYSTEM: HUMAN DETECTION BY COLOR 1 HAIROL NIZAM MOHD SHAH, 2 MOHD ZAMZURI AB RASHID, 3 NUR MAISARAH MOHD SOBRAN, 4 ROZILAWATI MOHD NOR, 5 ZALINA KAMIS 1,2,3,4 Universiti Teknikal Malaysia Melaka, Faculty of Electrical Engineering, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia 5 Universiti Teknologi Malaysia, Faculty of Electrical Engineering, 81300 Skudai, Johor, Malaysia E-mail: 1 hnizam@utem.edu.my , 2 zamzuri@utem.edu.my, 3 nurmaisarah@utem.edu.my, 4 iela_zie@yahoo.com, 5 zalina_fz@yahoo.com.sg ABSTRACT This project related to develop and implementation of autonomous vision based mobile robot following human based on clothes color. There have two part are involve which is mobile robot platform and classification algorithms by color. The core of the classification of color are comprise into two process; offline and online. An offline process consists of the training of the static image, using deference input sources that depend on the application. An online process consists of the matching process and the result of the clothes color position. Then classification algorithm is applied to find the centroid of the human. This centroid is then compared with the center of the image to get the location of the human with respect to the camera, either at the left or right of the camera. If the human is not in the center of the camera view, then corrective measures is taken so that the human will be in the center of the camera view. Data for the centroid of human is shown through the Graphical User Interface (GUI). One of the unique advantages in this project, the detection of human by color only uses image processing that generated by the algorithms itself without additional sensor like sonar or IF sensor. Keywords: Classification Algorithms, Mobile Robot, Wireless Camera, Graphical User Interface (GUI) 1 INTRODUCTION In this era of globalization, utilization of robot being necessity in human life to do some kind of work that cannot be done by human itself. However, it is difficult for a robot to manipulate human environment especially to adapt with large and unpredictable society. At the same time it requires full controlled setting by human. Besides, to build up a robot is not as simple as buy it from the market and not just looking for their appearances. It needs right setting and controlling by the instructor which is human. It is the same either builds a new one or modified an existing robot because both hardware setting and software control program need to be changes depends on their application. The modification could be as simple as adding some input or output in the control programmed. However, additional input or output meant software will be more complex and difficult to handle. It is because, each adding algorithm represents each application need to be done by the robot such as move forward, reverse, controlling speed and other else. For an autonomous mobile robot, it has an ability to adapt with their surroundings, but it may also learn new ability such as adjusting strategies during task completion and adapting with changing surrounding. Because of that matter, some robot added additional device on it to perform above tasks which is either use sensor or put a camera on top of it. For software application, in order to instruct the robot move to a certain destination, the important things are to describe their position and orientation of a body in space. If the position of destination is fixed, user could insert the value in the program with some mathematical abbreviations to move the