Image processing based obstacle avoidance control for mobile robot by recurrent fuzzy neural network

被引：7

作者：

Mon, Yi-Jen ^{[1
]}

Lin, Chih-Min ^{[2
]}

机构：

[1] Taoyuan Innovat Inst Technol, Dept Comp Sci & Informat Engn, Chungli 320, Taoyuan, Taiwan

[2] Yuan Ze Univ, Dept Elect Engn, Taoyuan, Taiwan

来源：

JOURNAL OF INTELLIGENT & FUZZY SYSTEMS | 2014年 / 26卷 / 06期

关键词：

Recurrent fuzzy neural network (RFNN); mobile robot control; e-puck; webots; image processing; SYSTEMS; DESIGN;

D O I：

10.3233/IFS-130943

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The e-puck (TM) mobile robot is used and an intelligent obstacle avoidance algorithm is developed in this paper. The image data are processed by edge detection method. By using the recurrent fuzzy neural network (RFNN), the horizontal edge (HE) and vertical edge (VE) are feed into RFNN to train the control rules such as to control the right and left wheels of e-puck robot to avoid obstacles. The good control performances and effectiveness are demonstrated by the simulations of Matlab (TM) and Webots (TM); meanwhile, the empirical tests are also implemented to verify these performances.

引用

页码：2747 / 2754

页数：8

共 13 条

[1]

[Anonymous], 2009, P 9 C AUTONOMOUS ROB

[2] Timing Sensory Integration Robot Simulation of Autistic Behavior [J].

Barakova, Emilia I. ;

Chonnaparamutt, Winai .

IEEE ROBOTICS & AUTOMATION MAGAZINE, 2009, 16 (03) :51-58

[3] Stability analysis of a vision-based control design for an autonomous mobile robot [J].

Coulaud, Jean-Baptiste ;

Campion, Guy ;

Bastin, Georges ;

De Wan, Michel .

IEEE TRANSACTIONS ON ROBOTICS, 2006, 22 (05) :1062-1069

[4]

Jung B., 2004, International Conference on Intelligent Autonomous Systems, P980

[5] Identification and control of dynamic systems using recurrent fuzzy neural networks [J].

Lee, CH ;

Teng, CC .

IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2000, 8 (04) :349-366

[6] Hybrid control using recurrent fuzzy neural network for linear-induction motor servo drive [J].

Lin, FJ ;

Wai, RJ .

IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2001, 9 (01) :102-115

[7] Open-hardware e-puck Linux extension board for experimental swarm robotics research [J].

Liu, Wenguo ;

Winfield, Alan F. T. .

MICROPROCESSORS AND MICROSYSTEMS, 2011, 35 (01) :60-67

[8]

Michel O., 2004, International Journal of Advanced Robotic Systems, V1, P39

[9]

Michel O, 2010, CYBERBOTICS ROBOT CU

[10] Intelligent control for long-term ecological systems [J].

Mon, Yi-Jen ;

Lin, Chih-Min ;

Yeh, Rong-Guan .

JOURNAL OF INTELLIGENT & FUZZY SYSTEMS, 2013, 24 (04) :905-913

← 1 2 →