Mobile robot visual navigation based on fuzzy logic and optical flow approaches

Mohamed Nadour (), Mohamed Boumehraz (), Lakhmissi Cherroun () and Vicenç Puig ()
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Mohamed Nadour: University of Djelfa
Mohamed Boumehraz: University of Biskra
Lakhmissi Cherroun: University of Djelfa
Vicenç Puig: Polytechnic University of Catalonia (UPC)

International Journal of System Assurance Engineering and Management, 2019, vol. 10, issue 6, No 20, 1654-1667

Abstract: Abstract This paper presents the design of mobile robot visual navigation system in indoor environment based on fuzzy logic controllers (FLC) and optical flow (OF) approach. The proposed control system contains two Takagi–Sugeno fuzzy logic controllers for obstacle avoidance and goal seeking based on video acquisition and image processing algorithm. The first steering controller uses OF values calculated by Horn–Schunck algorithm to detect and estimate the positions of the obstacles. To extract information about the environment, the image is divided into two parts. The second FLC is used to guide the robot to the direction of the final destination. The efficiency of the proposed approach is verified in simulation using Visual Reality Toolbox. Simulation results demonstrate that the visual based control system allows autonomous navigation without any collision with obstacles.

Keywords: Visual navigation; Goal seeking; Moving target; VRML; Fuzzy controller; Optical flow; TTC (search for similar items in EconPapers)
Date: 2019
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Citations: View citations in EconPapers (1)

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DOI: 10.1007/s13198-019-00918-2

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