Implementation of Fuzzy Decision Based Mobile Robot Navigation Using Stereo Vision | Zendy

Khalid Al-Mutib | Zendy; Ebrahim A. Mattar | Zendy; Mansour Alsulaiman | Zendy

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Implementation of Fuzzy Decision Based Mobile Robot Navigation Using Stereo Vision

Author(s) -

Khalid Al-Mutib,

Ebrahim A. Mattar,

Mansour Alsulaiman

Publication year - 2015

Publication title -

procedia computer science

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.334

H-Index - 76

ISSN - 1877-0509

DOI - 10.1016/j.procs.2015.08.427

Subject(s) - computer science , mobile robot navigation , mobile robot , artificial intelligence , computer vision , stereopsis , obstacle avoidance , navigation system , fuzzy logic , coding (social sciences) , simultaneous localization and mapping , obstacle , robot , robot control , statistics , mathematics , political science , law

In this article, we discuss implementation phases for an autonomous navigation of a mobile robotic system using SLAM data, while relying on the features of learned navigation maps. The adopted SLAM based learned maps, was relying entirely on an active stereo vision for observing features of the navigation environment. We show the framework for the adopted lower-level software coding, that was necessary once a vision is used for multiple purposes, distance measurements, and obstacle discovery. In addition, the article describes the adopted upper-level of system intelligence using fuzzy based decision system. The proposed map based fuzzy autonomous navigation was trained from data patterns gathered during numerous navigation tasks. Autonomous navigation was further validated and verified on a mobile robot platform

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