Vision-Based Multi-Point Sensing for Corridor Navigation of Autonomous Indoor Vehicle

被引：0
|
作者：
Purwanto, Djoko [1 ]
Rivai, Muhammad [1 ]
Soebhakti, Hendawan [2 ]
机构：
[1] Inst Teknol Sepuluh Nopember, Dept Elect Engn, Surabaya, Indonesia
[2] Politeknik Negeri Batam, Dept Elect Engn, Batam, Indonesia
来源：
2017 INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING AND COMPUTER SCIENCE (ICECOS) | 2017年
关键词：
vision-based sensing; corridor navigation; autonomous vehicle;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Autonomous Indoor Vehicle (AIV) is used for various purposes so it can reduce human workload. This study aims to develop a corridor navigation system for AIV that utilizes vision-based multi point sensing. Multi-point sensing techniques on floor and corridor areas are used to detect obstacle-free areas and estimate the direction of AIV. Area detection and direction estimation are used as input information of navigation algorithm based on a fuzzy inference system to control AIV movement. The results of the experiments show that AIV can run along the corridor with the largest mean error of 6.49% with respect the centerline of the corridor.
引用
收藏
页码：67 / 70
页数：4
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