Fuzzy logic based mobile robot area filling with vision system for indoor environments

We present an area filling mobile robot system for indoor environment based on fuzzy logic and behavioral control using up-to-date environmental heterogeneous information perceived from range sensors and vision system. For gathering environmental information in the proximity of the robot and avoiding collisions with obstacles when navigating, infrared and ultrasonic sensors are utilized on the mobile robot system. Based on human expert knowledge, several basic behaviors for area filling are implemented using fuzzy inference. By exploiting straight lines features found on standard suspended ceilings, orientation error is corrected effectively while following a path during area filling. A finite state machine mechanism is used to control the behavior transitions and accomplish the area filling in the desired region. Experiments indicate the effectiveness of the system.

[1]  Dawei Liu,et al.  Wall-following by an Autonomously Guided Vehicle (AGV) Using a New Fuzzy-I (Integration) Controller , 1999, Robotica.

[2]  Jiann-Der Lee.  Indoor robot navigation by landmark tracking , 1997 .

[3]  Carl F. R. Weiman,et al.  Helpmate autonomous mobile robot nav-igation system , 1991 .

[4]  Margrit Betke,et al.  Mobile robot localization using landmarks , 1997, IEEE Trans. Robotics Autom..

[5]  Makoto Yamada,et al.  Cleaning robot control , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[6]  Giovanni Attolico,et al.  Automatic generation of fuzzy rules for reactive robot controllers , 1997, Robotics Auton. Syst..

[7]  Hichem Maaref,et al.  Fuzzy navigation strategy: application to two distinct autonomous mobile robots , 1997, Robotica.

[8]  R. Lal Tummala,et al.  Mobile robot navigation using artificial landmarks , 1997 .

[9]  Ernest L. Hall,et al.  Region filling operations with random obstacle avoidance for mobile robots , 1988, J. Field Robotics.

[10]  Mohan M. Trivedi,et al.  A neuro-fuzzy controller for mobile robot navigation and multirobot convoying , 1998, IEEE Trans. Syst. Man Cybern. Part B.

[11]  Peter W. Tse,et al.  Fuzzy mobile robot navigation and sensor integration , 1996, Proceedings of IEEE 5th International Fuzzy Systems.

[12]  Vladimir J. Lumelsky,et al.  Experiments with a mobile robot operating in a cluttered unknown environment , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[13]  S. Ito,et al.  Navigation system based on ceiling landmark recognition for autonomous mobile robot , 1993, Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics.

[14]  Günther Schmidt,et al.  Path planning and guidance techniques for an autonomous mobile cleaning robot , 1995, Robotics Auton. Syst..

[15]  Hobart R. Everett,et al.  Mobile Robot Positioning - Sensors and Techniques , 1997 .

[16]  Marilena Vendittelli,et al.  Fuzzy maps: A new tool for mobile robot perception and planning , 1997, J. Field Robotics.