Vision-Based Obstacle Avoidance Controller Design for Mobile Robot by Using Single Camera
نویسنده
چکیده
By using the single VGA camera installed on mobile robot, a vision-based intelligent obstacle avoidance algorithm is developed in this paper. The image data are processed by edge detection method. By using the adaptive network based fuzzy inference system (ANFIS), the horizontal edge numbers (HEN) and vertical edge numbers (VEN) are feed into ANFIS to train the fuzzy rules such as to control the right and left wheels of mobile robot to avoid obstacles. The simulation results by using Matlab and Webots softwares reveal that the control performances and effectiveness are possessed.
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