© Published at the Proceedings of the Electronics, Robotics and Automotive Mechanics Conference CERMA 2007. September 200 7. IEEE Computer Society. A Robot-vision System for Autonomous Vehicle Navigation with Fuzzy-logic Control using Lab-View Juan Manuel Ramírez, IEEE Senior Member Instituto Nacional de Astrofísica, Óptica y Electrónica Coordinación de Electrónica Tonantzintla, Puebla. C.P. 72000 Pilar Gómez-Gil, IEEE Senior Member Universidad Popular Autónoma del Estado de Puebla Centro Interdisciplinario de Postgrado Puebla, México. C.P. 72160 Filiberto López Larios, M.Sc. student Universidad de las Américas, Puebla Departamento de Computación, Electrónica y Mecatrónica Cholula, Puebla, México. C.P.72820 Abstract This paper describes a navigation system for an autonomous vehicle using machine vision techniques applied to real-time captured images of the track, for academic purposes. The experiment consists on the automatic navigation of a control remote car through a closed circuit. Computer vision techniques are used for the sensing of the environment through a wireless camera. The received images are captured into the computer through the acquisition card NI USB-6009, and processed in a system developed under the LabView platform, taking advantage of the toolkit for acquisition and image processing. Fuzzy logic control techniques are incorporated for the intermediate control decisions required during the car navigation. An efficient approach based on logic machine-states is used as an optimal method to implement the changes required by the fuzzy logic control. Results and concluding remarks are presented. 1. Introduction An autonomous navigation system consists on a self-piloted vehicle that does not require an operator to navigate and accomplish its tasks. The aim of an autonomous vehicle is to have self sufficiency and decision making installed within it. Some of the areas where autonomous vehicle are used are space rovers, rice planting and agricultural vehicles [1,2], autonomous driving for urban areas, security and surveillance [3], and also exploration of any place where human life may be at risk like a mine or a place with fire hazard. There is a whole variety of autonomous vehicles present, with an extensive classification and categories depending on their characteristics [4,5]. Some of those characteristics described in the literature are: Autonomy level, methods of data acquisition, methods of localizations, goal tasks, displacement techniques, control methods, and so on. The project presented in this paper is restricted to the autonomous navigation of a small control remote car through a closed circuit. Although it is a very specific task in a controlled environment, it is indented to provide a platform for academic purposes, in which several approaches of navigation control can be tried, and different schemes of pre-processing image techniques can be used in educational experiments. The software package Lab View and their available toolboxes on image analysis acquisition and fuzzy logic control [6,7], have been found to be an excellent platform for experimentation purposes for a quick design, implementation, and test of the prototypes. It is expected to continue the experimentation with this prototype in order to explore further tasks, which would require the use of more sophisticated control heuristics such us artificial intelligence and neural networks techniques. 2. Hardware description The implemented system aims to the wireless control of a small remote control car from a laptop computer. The vehicle is equipped with a wireless