Navigation method using fuzzy line tracking for the transportation robot

Author

Nguyen Thanh Truc ; Eun-Hey Sun ; Young-Min Kim ; Yong-Tae Kim

Author_Institution

Dept. of Electr., Electron. & Control Eng., Hankyong Nat. Univ., Anseong, South Korea

fYear

2014

Firstpage

819

Lastpage

822

Abstract

In the paper, we propose a navigation method using fuzzy line tracking and D*Lite algorithm based on a QR code map. Path planning using D*Lite is implemented on the server. Fuzzy line tracking is developed by using image processing technique. At first, we design a virtual map which is composed of QR code nodes. We generate an optimized path for navigation on the map. Accuracy of the navigation is enhanced by fuzzy line tracking method. The proposed method is verified by simulation study as well as experiment on a real environment.

Keywords

QR codes; fuzzy control; fuzzy set theory; mobile robots; path planning; robot vision; terrain mapping; transportation; D*Lite algorithm; QR code map; QR code nodes; fuzzy line tracking; image processing technique; navigation method; optimized path; path planning; transportation robot; virtual map design; Cameras; Navigation; Path planning; Robot kinematics; Robot vision systems; Transportation; D ∗Lite; Fuzzy Line Tracking; Navigation Method; Path Planning; Transportation Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Soft Computing and Intelligent Systems (SCIS), 2014 Joint 7th International Conference on and Advanced Intelligent Systems (ISIS), 15th International Symposium on

Type

conf

DOI

10.1109/SCIS-ISIS.2014.7044874

Filename

7044874