Fuzzy target tracking and obstacle avoidance of mobile robots with a stereo vision system

Tzuu-Hseng S. Li, Chan Hong Chao, Bo Yan Hsueh, Ming Ying Hsiao, Shun Hung Tsai

研究成果: Article同行評審

28 引文 斯高帕斯(Scopus)

摘要

In this paper, a two-level hierarchical intelligent control system is developed on a mobile robot to deal with target tracking and obstacle avoidance tasks. A stereo vision subsystem is first introduced. It can perceive video information in the environment to locate objects, including locating targets and obstacles precisely. This subsystem possesses two CCD cameras mounted on the top of a robot to obtain images from the surroundings. And then, based on the sensed image data in the indoor environment, a robot behavior decision-making subsystem with a fuzzy control strategy is proposed for target tracking and obstacle avoidance. Under this decision-making strategy, the robot can respond correctly to complete the desired task. Finally, site experiments are performed to show that the proposed schemes are feasible and effective.

原文English
頁(從 - 到)183-191
頁數9
期刊International Journal of Fuzzy Systems
11
發行號3
出版狀態Published - 2009 九月 1

All Science Journal Classification (ASJC) codes

  • 軟體
  • 理論電腦科學
  • 計算機理論與數學
  • 人工智慧

指紋

深入研究「Fuzzy target tracking and obstacle avoidance of mobile robots with a stereo vision system」主題。共同形成了獨特的指紋。

引用此