Title :
Fuzzy-based obstacle avoidance for a mobile robot navigation in indoor environment
Author :
Zih-Yang Dang ; Jiann-Der Lee
Author_Institution :
Dept. of Electr. Eng., Chang Gung Univ., Taoyuan, Taiwan
Abstract :
This paper presents a real-time automatic obstacle avoidance system using the depth map provided by a RGBD sensor mounted on a mobile robot. A set of intelligent fuzzy rules are designed to construct a safe path to avoid obstacles in the unknown environment. According to the experimental results, this system has good performance while compared with the previous approaches and can work in dark environment.
Keywords :
collision avoidance; fuzzy set theory; mobile robots; sensors; RGBD sensor; depth map; indoor environment; intelligent fuzzy rules; mobile robot navigation; real-time automatic obstacle avoidance system; Collision avoidance; Flowcharts; Indoor environments; Mobile robots; Navigation; Robot sensing systems;
Conference_Titel :
Consumer Electronics - Taiwan (ICCE-TW), 2015 IEEE International Conference on
Conference_Location :
Taipei
DOI :
10.1109/ICCE-TW.2015.7217028
