Paper:
Language: English:

Multilayered Fuzzy Behavior Control for an Autonomous Mobile Robot with Multiple Omnidirectional Vision System: MOVIS

Yoichiro Maeda^* and Wataru Shimizuhira^**

^*Dept. of Human and Artificial Intelligent Systems, Graduate School of Engineering, Univ. of Fukui, 3-9-1 Bunkyo, Fukui-shi, Fukui 910-8507, Japan
^**Kyoto R&D Center Mechanism Team, Murata Machinery, Ltd., 136 Takeda-Mukaishiro-cho, Fushimi-ku, Kyoto 612-8686, Japan

Received: October 31, 2005

Accepted: March 31, 2006

Keywords: omnidirectional vision system, behavior control, autonomous mobile robot, fuzzy reasoning, RoboCup

Journal ref: Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.11, No.1 pp. 21-27, 2007

Abstract

We propose a multiple omnidirectional vision system (MOVIS) with three omnidirectional cameras and calculation for measuring an object position and localization in an autonomous mobile robot. In identifying the robot's location, we improved measurement accuracy by correcting the absolute location based on landmark measurement error in the origin of absolute coordinates. We propose omnidirectional behavior control for collision avoidance and object chasing using fuzzy reasoning in an autonomous mobile robot with MOVIS. We also report experimental results confirming the efficiency of our proposal using a RoboCup soccer robot in a dynamic environment.

[Notice]
* "Preview" is the first 2 pages of the article. You don't need the registration.
* To read the PDF file you will then need to download and install the Adobe Reader.
Adobe Reader is free and available for download here: