Fuzzy Logic Guidance Control Systems for Autonomous Navigation Based on Omnidirectional Sensing

Sensing in an unknown environment is one of a few challenges faced by fully autonomous navigation. Getting a head estimation with respect to the world coordinate system can definitely be a difficult task. In this paper, the authors propose a real time fuzzy logic application for autonomous navigation based on omnidirectional sensing. First, it was proposed to extract the longest segments of lines from the edge frame. Second, RANSAC curve fitting method was implemented for detecting the best curve fitting given the data set of points for each line segment. Third, the set of intersection points for each pair of curves were extracted. Fourth, the DBSCAN method was used in estimating the VP. Finally, to control the mobile robot in an unknown environment, a fuzzy logic controller by using the vanishing point (VP) was implemented. Preliminary results were gathered and tested on a group of consecutive frames. These specific methods of measurement were chosen to prove their effectiveness.