| Real-Time Fuzzy Obstacle Avoidance Using Directional Visual Perception |
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| 引用本文： | 黄国权,Rad A.B,Wong Y.K. Real-Time Fuzzy Obstacle Avoidance Using Directional Visual Perception[J]. 西南交通大学学报(英文版), 2004, 12(2): 107-115 |
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| 作者姓名： | 黄国权 Rad A.B Wong Y.K |
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| 作者单位： | DepartmentofElectricalEngineering,TheHongKongPolytechnicUniversity,Kowloon,HongKong,China |
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| 基金项目： | TheNationalNaturalSienceFoundationofChina (No .6 2 385 2 ) |
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| 摘 要： | This paper presents a novel vision-based obstacle avoidance approach for the Autonomous Mobile Robot (AMR) with a PanTilt-Zoom (PTZ) camera as its only sensing modality. The approach combines the morphological closing operation based on Sobel Edge Detection Operation and the (μ-kσ) thresholding technique to detect obstacles to soften the various lighting and ground floor effects. Both the morphology method and thresholding technique are computationaUy simple. The processing speed of the algorithm is fast enough to avoid some active obstacles. In addition, this approach takes into account the history obstacle effects on the current state. Fuzzy logic is used to control the behaviors of AMR as it navigates in the environment. All behaviors run concurrendy and generate motor response solely based on vision perception. A priority based on subsumption coordinator selects the most appropriate response to direct the AMR away from obstacles. Validation of the proposed approach is done on a Pioneer 1 mobile robot.
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| 关 键 词： | 实时系统 模糊系统 故障检修 边缘检测 自动机车机器人 |
Real-Time Fuzzy Obstacle Avoidance Using Directional Visual Perception |
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| Rad A.B,Wong Y.K. Real-Time Fuzzy Obstacle Avoidance Using Directional Visual Perception[J]. Journal of Southwest Jiaotong University, 2004, 12(2): 107-115 |
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| Authors: | Rad A.B Wong Y.K |
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| Abstract: | This paper presents a novel vision-based obstacle avoidance approach for the Autonomous Mobile Robot (AMR) with a Pan- Tilt-Zoom (PTZ) camera as its only sensing modality. The approach combines the morphological closing operation based on Sobel Edge Detection Operation and the (μ-kσ) thresholding technique to detect obstacles to soften the various lighting and ground floor effects. Both the morphology method and thresholding technique are computationally simple. The processing speed of the algorithm is fast enough to avoid some active obstacles. In addition, this approach takes into account the history obstacle effects on the current state. Fuzzy logic is used to control the behaviors of AMR as it navigates in the environment. All behaviors run concurrently and generate motor response solely based on vision perception. A priority based on subsumption coordinator selects the most appropriate response to direct the AMR away from obstacles. Validation of the proposed approach is done on a Pioneer 1 mobile robot. |
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| Keywords: | Fuzzy system Obstacle avoidance Edge detection Autonomous mobile robot |
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