Behavior-based Person following and Obstacle Avoidance of Omni-directional Wheeled Robots Using Stereo Vision and Ultrasonic Information
| Autor: | Chen-yun Wang, 王辰雲 |
|---|---|
| Rok vydání: | 2008 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 96 Mobile robots have been applied to support our lives in such areas as medical care, security and home life. Demand for a mobile robot to follow a person is increasing. The objective of this thesis is to propose a navigation strategy for a mobile robot to follow a person and avoid obstacles in an unknown environment. The proposed navigation strategy is based on the behavior-based approach and is designed using fuzzy logic control algorithm. An omni-directional wheeled robot integrated with a multiple ultrasonic system and a stereo vision system is employed to verify the theoretical results of the proposed method. Experimental results indicate that the robot can not only reach a predefined destination without any collision with obstacles but also follow a person closely. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
| Externí odkaz: |
|