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Visual-based fuzzy navigation system for mobile robot: Wall and corridor follower

M.N., Karsiti and B., Achmad (2007) Visual-based fuzzy navigation system for mobile robot: Wall and corridor follower. In: 2007 International Conference on Intelligent and Advanced Systems, ICIAS 2007, 25 November 2007 through 28 November 2007, Kuala Lumpur.

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Abstract

This paper presents the development of a visual-based fuzzy navigation system that enables a mobile robot in moving through a corridor or following a wall. The system employs a camera to detect the existence of walls on the left, the right, and the front of the robot. A mamdani-type fuzzy logic controller uses the information gathered by the camera to determine the turning angle and the speed of the robot. The fuzzy system is tested using an OpenGL-based 3D simulator that capable in animating the movement of the robot as well as generating the images captured by the camera. The results of the test confirm that the controller shows a good performance in navigating the robot. ©2007 IEEE.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:Cameras; Control theory; Fuzzy control; Fuzzy systems; Mobile robots; Navigation; Navigation systems; Robotics; Robots; Three dimensional; Fuzzy controller; Fuzzy logic controllers; Mamdani; Turning angles; Visual-based system; Fuzzy logic
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments / MOR / COE:Departments > Electrical & Electronic Engineering
ID Code:465
Deposited By: Assoc Prof Dr Mohd Noh Karsiti
Deposited On:09 Mar 2010 02:01
Last Modified:19 Jan 2017 08:27

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