Stereovision-based fuzzy obstacle avoidance method
2011 (English)In: International Journal of Humanoid Robotics, ISSN 0219-8436, Vol. 8, no 1, 169-183 p.Article in journal (Refereed) Published
This work presents a stereovision-based obstacle avoidance method for autonomous mobile robots. The decision about the direction on each movement step is based on a fuzzy inference system. The proposed method provides an efficient solution that uses a minimum of sensors and avoids computationally complex processes. The only sensor required is a stereo camera. First, a custom stereo algorithm provides reliable depth maps of the environment in frame rates suitable for a robot to move autonomously. Then, a fuzzy decision making algorithm analyzes the depth maps and deduces the most appropriate direction for the robot to avoid any existing obstacles. The proposed methodology has been tested on a variety of self-captured outdoor images and the results are presented and discussed.
Place, publisher, year, edition, pages
World Scientific, 2011. Vol. 8, no 1, 169-183 p.
autonomous robot navigation, Fuzzy obstacle avoidance, stereo vision, Autonomous Mobile Robot, Complex Processes, Depth Map, Frame rate, Fuzzy Decision making, Fuzzy inference systems, Obstacle avoidance, Outdoor images, Stereo algorithms, Stereo cameras, Algorithms, Decision making, Navigation, Robots, Sensors, Fuzzy inference
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:kth:diva-50989DOI: 10.1142/S0219843611002381ISI: 000290490500010ScopusID: 2-s2.0-79955978868OAI: oai:DiVA.org:kth-50989DiVA: diva2:463175
QC 20111212. Language of Original Document: English2011-12-082011-12-082014-04-11Bibliographically approved