Title :
Autonomous mobile robot navigation using stereovision
Author :
Lin, Wei-Song ; Ming-Kang Chuang ; Tien, Glorious
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ., Taiwan
Abstract :
An autonomous mobile robot navigation system based on stereovision perception is developed. The surroundings are recognized by constructing local 3D maps from binocular images. Minimizing the artificial potential energy of the mobile robot on a local 3D map plans a relay position and an approaching path. A self-learning controller using adaptive fuzzy systems is designed to manipulate the dynamic behavior of the mobile robot in tracking a planned path. Using Lagrange formalism, a mathematical model describing the autonomous mobile robot is derived for simulation study. Simulation and experimental results are presented.
Keywords :
adaptive control; control system synthesis; fuzzy control; mobile robots; path planning; robot vision; stereo image processing; Lagrange formalism; adaptive fuzzy systems; artificial potential energy; autonomous mobile robot navigation; binocular images; local 3-D maps; mobile robot; relay position; self-learning controller; stereovision perception; Adaptive control; Adaptive systems; Control systems; Fuzzy systems; Image recognition; Mobile robots; Navigation; Potential energy; Programmable control; Relays;
Conference_Titel :
Mechatronics, 2005. ICM '05. IEEE International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-8998-0
DOI :
10.1109/ICMECH.2005.1529292
