Visual and sonar data fusion for Path following and Obstacle Avoidance by Non-holonomic Mobile Robot

被引：0
|
作者：
Rezoug, Amar [1 ]
Djocadi, Mohand Said [1 ]
机构：
[1] Ecole Mil Polytech, Lab Robot & Prod, Bp 17 Bordj El Bahri, Algiers 16111, Algeria
来源：
PROCEEDINGS OF THE 7TH WSEAS INTERNATIONAL CONFERENCE ON CIRCUITS, SYSTEMS, ELECTRONICS, CONTROL AND SIGNAL PROCESSING (CSECS'08) | 2008年
关键词：
Path following; Visual servoing; obstacle avoidance Fuzzy logic;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper aims to contribute in mobile robots endowment with autonomy when accomplishing robotic tasks. The problem treated concerns not only path following by non-holonomic robot (pioneer II DX) using visual data coming front CCD camera mounted on the latter, but also obstacle avoidance using data coming from front robot sonar battery. Thanks to the visual data, the robot is visually servoied to a ground coloured line. The possible or dynamic obstacles on the robot trajectory are avoided using Fuzzy approach exploiting sonar data. Finally experimental results are presented.
引用
收藏
页码：321 / +
页数：2
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