Abstract
An obstacle avoidance scheme of mobile robot based on identification of obstacle has been designed according to the theory of fuzzy control. It is based on vision information therefore is more effective and may have more information of obstacle than other sensor system. Since the process is more complicated, the general stance of the obstacle is obtained through some special points of the obstacle image side by using fuzzy identification. The rational layout of the obstacle avoidance route is accomplished base on the location and general stance of the obstacle, using the method of enacting a set of virtual target point. The feasibility and effectiveness of this scheme have been proved by simulation study and experiment.
| Original language | English |
|---|---|
| Pages (from-to) | 199-202 |
| Number of pages | 4 |
| Journal | Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) |
| Volume | 38 |
| Issue number | SUPPL. 2 |
| State | Published - Nov 2008 |
Keywords
- Fuzzy identification
- Mobile robot
- Obstacle avoidance
- Virtual target point