Mobile robot visual navigation based on fuzzy logic and optical flow approaches
This paper presents the design of mobile robot visual navigation system in indoor environment based on fuzzy logic controllers (FLC) and optical flow (OF) approach. The proposed control system contains two Takagi–Sugeno fuzzy logic controllers for obstacle avoidance and goal seeking based on video a...
| Autores: | , , , |
|---|---|
| Tipo de recurso: | artículo |
| Fecha de publicación: | 2019 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/178427 |
| Acceso en línea: | https://hdl.handle.net/2117/178427 https://dx.doi.org/10.1007/s13198-019-00918-2 |
| Access Level: | acceso abierto |
| Palabra clave: | Computer vision Robotics Fuzzy logic Visual navigation Goal seeking Moving target VRML Fuzzy controller Optical flow TTC Visió per ordinador Robòtica Lògica difusa Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | This paper presents the design of mobile robot visual navigation system in indoor environment based on fuzzy logic controllers (FLC) and optical flow (OF) approach. The proposed control system contains two Takagi–Sugeno fuzzy logic controllers for obstacle avoidance and goal seeking based on video acquisition and image processing algorithm. The first steering controller uses OF values calculated by Horn–Schunck algorithm to detect and estimate the positions of the obstacles. To extract information about the environment, the image is divided into two parts. The second FLC is used to guide the robot to the direction of the final destination. The efficiency of the proposed approach is verified in simulation using Visual Reality Toolbox. Simulation results demonstrate that the visual based control system allows autonomous navigation without any collision with obstacles. |
|---|