TY - GEN
T1 - Fuzzy logic based mobile robot area filling with vision system for indoor environments
AU - Fu, Yili
AU - Lang, Sherman Y.T.
N1 - Publisher Copyright:
© 1999 IEEE.
PY - 1999
Y1 - 1999
N2 - In this paper we present an area filling mobile robot system for indoor environment based on fuzzy logic and behavioral control using up-to-date environmental heterogeneous information perceived from range sensors and vision system. For gathering environmental information in the proximity of the robot and avoiding collisions with and obstacles when navigating, infrared and ultrasonic sensors are utilized on the mobile robot system. Based on human expert knowledge, several basic behaviors for area filling are implemented using fuzzy inference. By exploiting straight lines features found on standard suspended ceilings, orientation error is corrected effectively while following a path during area filling. A finite state machine mechanism is used to control the behavior transitions and accomplish the area filling in the desired region. Experiments indicate the effectiveness of the system.
AB - In this paper we present an area filling mobile robot system for indoor environment based on fuzzy logic and behavioral control using up-to-date environmental heterogeneous information perceived from range sensors and vision system. For gathering environmental information in the proximity of the robot and avoiding collisions with and obstacles when navigating, infrared and ultrasonic sensors are utilized on the mobile robot system. Based on human expert knowledge, several basic behaviors for area filling are implemented using fuzzy inference. By exploiting straight lines features found on standard suspended ceilings, orientation error is corrected effectively while following a path during area filling. A finite state machine mechanism is used to control the behavior transitions and accomplish the area filling in the desired region. Experiments indicate the effectiveness of the system.
UR - https://www.scopus.com/pages/publications/0002050136
M3 - 会议稿件
AN - SCOPUS:0002050136
T3 - Proceedings - 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 1999
SP - 326
EP - 331
BT - Proceedings - 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 1999
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 1999
Y2 - 8 November 1999 through 9 November 1999
ER -