Fuzzy behavior control for autonomous mobile robot in dynamic environment with multiple omnidirectional vision system

Author

Shimizuhira, Wataru ; Fujii, Kyoko ; Maeda, Yoichiro

Author_Institution

Dept. of Human & Artificial Intelligent Syst., Fukui Univ., Japan

Volume

4

fYear

2004

fDate

28 Sept.-2 Oct. 2004

Firstpage

3412

Abstract

In this research, we have already developed a multiple omnidirectional vision system (MOVIS) with three omnidirectional cameras and its calculation method for the measurement of the object position and the self-localization in an autonomous mobile robot. Furthermore, we propose the omnidirectional behavior control method for collision avoidance and object chasing motion by using fuzzy reasoning in an autonomous mobile robot with MOVIS. In this paper, we also report some experimental results to confirm the efficiency of our proposed method by using a soccer robot in dynamic environment.

Keywords

cameras; collision avoidance; fuzzy control; fuzzy reasoning; mobile robots; robot vision; autonomous mobile robot; collision avoidance; dynamic environment; fuzzy behavior control; fuzzy reasoning; multiple omnidirectional vision system; object chasing motion; object position measurement; omnidirectional behavior control method; omnidirectional cameras; soccer robot; Cameras; Collision avoidance; Control systems; Fuzzy control; Fuzzy systems; Machine vision; Mobile robots; Motion control; Position measurement; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8463-6

Type

conf

DOI

10.1109/IROS.2004.1389944

Filename

1389944