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http://dx.doi.org/10.5391/JKIIS.2007.17.7.901

Navigation of an Autonomous Mobile Robot with Vision and IR Sensors Using Fuzzy Rules  

Heo, Jun-Young (부경대학교 대학원 전자공학과)
Kang, Geun-Taek (부경대학교 전자컴퓨터정보통신공학부)
Lee, Won-Chang (부경대학교 전자컴퓨터정보통신공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.17, no.7, 2007 , pp. 901-906 More about this Journal
Abstract
Algorithms of path planning and obstacle avoidance are essential to autonomous mobile robots that are working in unknown environments in the real time. This paper presents a new navigation algorithm for an autonomous mobile robot with vision and IR sensors using fuzzy rules. Temporary targets are set up by distance variation method and then the algorithms of trajectory planning and obstacle avoidance are designed using fuzzy rules. In this approach, several digital image processing technique is employed to detect edge of obstacles and the distances between the mobile robot and the obstacles are measured. An autonomous mobile robot with single vision and IR sensors is built up for experiments. We also show that the autonomous mobile robot with the proposed algorithm is navigating very well in complex unknown environments.
Keywords
이동로봇;자율주행;장애물 회피;비전;IR 센서;퍼지 규칙;
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