Mobile Robot Navigation Using A Vision Based Approach
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Vision Based Autonomous Robot Navigation
This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.
Visual Informatics: Bridging Research and Practice
Visual informatics is a field of interest not just among the information technology and computer science community, but also other related fields such as engineering, me- cal and health informatics and education starting in the early 1990s. Recently, the field is gaining more attention from researchers and industry. It has become a mul- disciplinary and trans-disciplinary field related to research areas such as computer vision, visualization, information visualization, real-time image processing, medical image processing, image information retrieval, virtual reality, augmented reality, - pressive visual mathematics, 3D graphics, multimedia-fusion, visual data mining, visual ontology, as well as services and visual culture. Various efforts has been - vested in different research, but operationally, many of these systems are not pro- nent in the mass market and thus knowledge and research on these phenomena within the mentioned areas need to be shared and disseminated. It is for this reason that the Visual Informatics Research Group from Universiti - bangsaan Malaysia (UKM) decided to spearhead this initiative to bring together experts in this very diversified but important research area so that more concerted efforts can be undertaken not just within the visual informatics community in Malaysia but from other parts of the world, namely, Asia, Europe, Oceania, and USA. This first International Visual Informatics Conference (IVIC 2009) was conducted collaboratively, by the visual informatics research community from the various public and private institutions of higher learning in Malaysia, and hosted by UKM.
Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic
The book includes topics, such as: path planning, avoiding obstacles, following the path, go-to-goal control, localization, and visual-based motion control. The theoretical concepts are illustrated with a developed control architecture with soft computing and artificial intelligence methods. The proposed vision-based motion control strategy involves three stages. The first stage consists of the overhead camera calibration and the configuration of the working environment. The second stage consists of a path planning strategy using several traditional path planning algorithms and proposed planning algorithm. The third stage consists of the path tracking process using previously developed Gauss and Decision Tree control approaches and the proposed Type-1 and Type-2 controllers. Two kinematic structures are utilized to acquire the input values of controllers. These are Triangle Shape-Based Controller Design, which was previously developed and Distance-Based Triangle Structure that is used for the first time in conducted experiments. Four different control algorithms, Type-1 fuzzy logic, Type-2 Fuzzy Logic, Decision Tree Control, and Gaussian Control have been used in overall system design. The developed system includes several modules that simplify characterizing the motion control of the robot and ensure that it maintains a safe distance without colliding with any obstacles on the way to the target. The topics of the book are extremely relevant in many areas of research, as well as in education in courses in computer science, electrical and mechanical engineering and in mathematics at the graduate and undergraduate levels.