Detecting Changes in Object-Configurations in Changeable Environments by a Mobile Robot

Detecting changes in environment of mobile robot

The usefulness of four signature schemes for detecting changes in environment of mobile robot is investigated. Computational and memory complexities of software implementations of the schemes are experimentally compared. Finally, the best of the schemes for considered application is chosen.

Mobile robot wall-following control using a behavior-based fuzzy controller in unknown environments

This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...

Detecting regime changes with a mobile robot using multiple models

We present an approach to the detection of global environmental regime changes by a mobile robot performing a task. The approach is based on the use of augmented Markov models (AMMs), a variation of semi-Markov process. We have developed an algorithm that constructs AMMs on-line and in real-time with little computational and space overhead. AMMs are a general tool for capturing the interaction ...

Path planning in changeable environments

Object Detection Applied to Indoor Environments for Mobile Robot Navigation

To move around the environment, human beings depend on sight more than their other senses, because it provides information about the size, shape, color and position of an object. The increasing interest in building autonomous mobile systems makes the detection and recognition of objects in indoor environments a very important and challenging task. In this work, a vision system to detect objects...