Visual navigation system based on evolutionary computation on FPGA for patrol service robot

Author

Asami, Kenichi ; Hagiwara, Hayato ; Komori, Mochimitsu

Author_Institution

Dept. of Appl. Sci. for Integrated Syst. Eng., Kyushu Inst. of Technol., Kitakyushu, Japan

fYear

2012

fDate

2-5 Oct. 2012

Firstpage

295

Lastpage

298

Abstract

The visual navigation system for a patrol service robot using image processing and evolutionary computation on FPGA is presented. The image processing and evolutionary computation are implemented into a reconfigurable device as original logic. The image processing circuit captures digital images from CMOS camera, extracts the edge and feature points in the images for self-localization to adjust the current course on the traveling map data. The genetic algorithm optimizes threshold values for the filtering operations according to various lighting environments. The visual navigation system has been developed for the linkage between flexible hardware circuits and real-time software applications for robot vision purpose.

Keywords

CMOS image sensors; edge detection; evolutionary computation; field programmable gate arrays; filtering theory; path planning; robot vision; service robots; CMOS camera; FPGA; edge extraction; evolutionary computation; feature points; filtering operations; flexible hardware circuits; image processing; image processing circuit; patrol service robot; real-time software applications; reconfigurable device; robot vision; visual navigation system; Field programmable gate arrays; Image edge detection; Mobile robots; Navigation; Service robots; Visualization; evolutionary robotics; genetic algorithm; image processing; patrol service robot; visual navigation system;

fLanguage

English

Publisher

ieee

Conference_Titel

Consumer Electronics (GCCE), 2012 IEEE 1st Global Conference on

Conference_Location

Tokyo

Print_ISBN

978-1-4673-1500-5

Type

conf

DOI

10.1109/GCCE.2012.6379607

Filename

6379607