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

摘要

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 Tak-agi-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.