single-jc.php

JACIII Vol.11 No.1 pp. 21-27
doi: 10.20965/jaciii.2007.p0021
(2007)

Paper:

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
Published:
January 20, 2007
Keywords:
omnidirectional vision system, behavior control, autonomous mobile robot, fuzzy reasoning, RoboCup
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.

Cite this article as:
Yoichiro Maeda and Wataru Shimizuhira, “Multilayered Fuzzy Behavior Control for an Autonomous Mobile Robot with Multiple Omnidirectional Vision System: MOVIS,” J. Adv. Comput. Intell. Intell. Inform., Vol.11, No.1, pp. 21-27, 2007.
Data files:
References
  1. [1] H. Kitano, M. Asada, I. Noda, and H. Matsubara, “RoboCup: Robot World Cup,” IEEE Robotics and Automation Magazine, Vol.5, No.3, pp. 30-36, 1998.
  2. [2] A. R. Price and T. Jones, “An Innovative Approach to Vision, Localization and Orientation Using Omnidirectional Radial Signature Analysis,” RoboCup-98: Robot Soccer World Cup II, 1998.
  3. [3] A. Bonarini, “The Body, the Mind or the Eye, First?,” RoboCup-99: Robot Soccer World Cup III, pp. 210-221, 1999.
  4. [4] H. Koyasu, J. Miura, and Y. Shirai, “Estimation of Ego-Motion and Its Uncertainty for a Mobile Robot Using Omnidirectional Stereo,” Proc. of the 20th Annual Conference of the Robotics Society of Japan, CD-ROM, 3A24, 2002 (in Japanese).
  5. [5] T. Matsuoka, A. Motomura, and T. Hasegawa, “Real-time Self-Localization Method in a Dynamically Changing Environment,” Proc. of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1234-1239, 2003.
  6. [6] J. Gluckman, K. Nayar, and J. Thoresz, “Real-Time Omnidirectional and Panoramic Stereo,” Proc. of Image Understanding Workshop, Vol.1, pp. 299-303, 1998.
  7. [7] R. Miki, K. Yamazawa, H. Takemura, and N. Yokoya, “A Remote Surveillance System Using Omnidirectional Sensors,” Technical Report of IEICE, PRMU98-177, pp. 7-14, 1999 (in Japanese).
  8. [8] W. Shimizuhira and Y. Maeda, “Self-Localization Method Used Multiple Omnidirectional Vision System,” Proc. of SICE Annual Conference 2003, pp. 2796-2799, 2003.
  9. [9] R. Tsuzaki and K. Yosida, “Motion Control Based on Fuzzy Potential Method for Autonomous Mobile Robot with Omnidirectional Vision,” Journal of the Robotics Society of Japan, Vol.21, No.6, pp. 656-662, 2003 (in Japanese).
  10. [10] Y. Takahashi, K. Hikita, and M. Asada, “Incremental Purposive Behavior Acquisition based on Self-Interpretation of Instructions by Coach,” Proc. of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 686-693, 2003.
  11. [11] W. Shimizuhira, K. Fujii, and Y. Maeda, “Fuzzy Behavior Control for Autonomous Mobile Robot in Dynamic Environment with Multiple Omnidirectional Vision System,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), CD-ROM, SA2-M3, 2004.
  12. [12] W. Shimizuhira and Y. Maeda, “Behavior Control Method by Multi-Layered Fuzzy Rule for Autonomous Mobile Robot with Multiple Omnidirectional Vision System,” The Fourth International Symposium on Human and Artificial Intelligence Systems (HART 2004), pp. 283-288, 2004.
  13. [13] E. Tunstel, M. A. A. de Oliveira, and S. Berman, “Fuzzy Behavior Hierarchies for Multi-robot Control,” International Journal of Intelligent Systems 17, pp. 449-470, 2002.
  14. [14] L. Magdalena, “On the Role of Context in Hierarchical Fuzzy Controllers, 2,” International Journal of Intelligent Systems 17, pp. 471-493, 2002.
  15. [15] V. Torra, “A Review of the Construction of Hierarchical Fuzzy Systems,” International Journal of Intelligent Systems 17, pp. 531-543, 2002.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Mar. 05, 2021