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

fYear

2005

fDate

10-12 July 2005

Firstpage

410

Lastpage

415

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics, 2005. ICM '05. IEEE International Conference on

Conference_Location

Taipei

Print_ISBN

0-7803-8998-0

Type

conf

DOI

10.1109/ICMECH.2005.1529292

Filename

1529292