Pattern recognition and following of wall by behavior-based mobile robot

Author

Chengjun, Ding ; Minglu, Zhang ; Ping, Duan

Author_Institution

Dept. of Mech. Eng., Hebei Univ. of Technol., Tianjin, China

Volume

6

fYear

2004

Firstpage

4881

Abstract

The movement of mobile robot along wall is classified into wall type recognition, straight wall following and turning around corners according to the behavior based idea. Mobile robot measures distance between its body and the wall it follows by three ultrasonic sensors, it recognizes the wall type online with neural network, follows straight wall with fuzzy controller and turns around 3 kinds of corners at their optimal turning radius by calculating models for the corners. The results of simulation and experiments according to TIT-I mobile robot indicate that the control strategy for wall recognition and following proposed in this paper is practicable and effective.

Keywords

control engineering computing; distance measurement; fuzzy control; mobile robots; neural nets; pattern recognition; walls; TIT-I mobile robot; behavior-based mobile robot; fuzzy controller; neural network; pattern recognition; straight wall following; ultrasonic sensors; wall type recognition; Electronic mail; Fuzzy control; Mobile robots; Neural networks; Optimal control; Pattern recognition; Turning; Ultrasonic variables measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on

Print_ISBN

0-7803-8273-0

Type

conf

DOI

10.1109/WCICA.2004.1343639

Filename

1343639