Academic Journal
Mobile robot visual navigation based on fuzzy logic and optical flow approaches
| العنوان: | Mobile robot visual navigation based on fuzzy logic and optical flow approaches |
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| المؤلفون: | Nadour, Mohamed, Boumehraz, Mohamed, Cherroun, Lakhmissi, Puig Cayuela, Vicenç |
| المساهمون: | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
| سنة النشر: | 2019 |
| المجموعة: | Universitat Politècnica de Catalunya, BarcelonaTech: UPCommons - Global access to UPC knowledge |
| مصطلحات موضوعية: | Àrees temàtiques de la UPC::Informàtica::Robòtica, Computer vision, Robotics, Fuzzy logic, Visual navigation, Goal seeking, Moving target, VRML, Fuzzy controller, Optical flow TTC, Visió per ordinador, Robòtica, Lògica difusa |
| الوصف: | This paper presents the design of mobile robot visual navigation system in indoor environment based on fuzzy logic controllers (FLC) and optical flow (OF) approach. The proposed control system contains two Takagi–Sugeno fuzzy logic controllers for obstacle avoidance and goal seeking based on video acquisition and image processing algorithm. The first steering controller uses OF values calculated by Horn–Schunck algorithm to detect and estimate the positions of the obstacles. To extract information about the environment, the image is divided into two parts. The second FLC is used to guide the robot to the direction of the final destination. The efficiency of the proposed approach is verified in simulation using Visual Reality Toolbox. Simulation results demonstrate that the visual based control system allows autonomous navigation without any collision with obstacles. ; Peer Reviewed ; Postprint (author's final draft) |
| نوع الوثيقة: | article in journal/newspaper |
| وصف الملف: | 14 p.; application/pdf |
| اللغة: | English |
| تدمد: | 0976-4348 |
| Relation: | https://link.springer.com/article/10.1007%2Fs13198-019-00918-2; Nadour, M. [et al.]. Mobile robot visual navigation based on fuzzy logic and optical flow approaches. "International Journal of Systems Assurance Engineering and Management", 1 Gener 2019, vol. 10, núm. 6, p. 1654-1667.; http://hdl.handle.net/2117/178427 |
| DOI: | 10.1007/s13198-019-00918-2 |
| الاتاحة: | http://hdl.handle.net/2117/178427 https://doi.org/10.1007/s13198-019-00918-2 |
| Rights: | Attribution-NonCommercial-NoDerivs 3.0 Spain ; http://creativecommons.org/licenses/by-nc-nd/3.0/es/ ; Open Access |
| رقم الانضمام: | edsbas.45D1FB47 |
| قاعدة البيانات: | BASE |
| تدمد: | 09764348 |
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| DOI: | 10.1007/s13198-019-00918-2 |