教師資料查詢 | 類別: 期刊論文 | 教師: 翁慶昌 Wong Ching-chang (瀏覽個人網頁)

標題:Design and implementation of vision-based fuzzy obstacle avoidance method on humanoid robot
學年99
學期2
出版(發表)日期2011/03/01
作品名稱Design and implementation of vision-based fuzzy obstacle avoidance method on humanoid robot
作品名稱(其他語言)
著者Wong, Ching-Chang; Hwang, Chih-Lyang; Huang, Kai-Hsiang; Hu, Yue-Yang; Cheng, Chi-Tai
單位淡江大學電機工程學系
出版者Taipei: Chinese Fuzzy Systems Association
著錄名稱、卷期、頁數International Journal of Fuzzy Systems=IJFS模糊系統期刊 13(1), pp.45-54
摘要A vision-based fuzzy obstacle avoidance method is designed and implemented on a humanoid robot so that it can avoid obstacles successfully and arrive at the terminal area effectively. A humanoid robot with 23 degrees of freedom is implemented so that it can execute six basic walking motions. One vision system and one electronic compass are installed on the robot to obtain the environment information so that it can obtain the environment information to be an autonomous mobile robot. In order to avoid obstacle successfully, the minimal distance between the robot and the obstacles in the moving direction measured from the captured image of the vision system is considered as a dangerous factor in the moving direction. In order to attend at the terminal area effectively, the angle difference between the goal direction and the moving direction of the robot measured from the electronic compass is considered as a helpful factor in the moving direction. The dangerous factor and the helpful factor are considered to be two inputs of the proposed fuzzy system to evaluate the feasibility of each motion so that one of the six motions with a highest value is selected to be the next motion in every decision. Some simulation results in four different environments by placing different number of obstacles and one practical experiment of a difficult environment are presented to illustrate the effectiveness of the proposed method.
關鍵字Humanoid robot; Autonomous mobile robot;
Vision-based robot; Obstacle avoidance; Fuzzy system
語言英文
ISSN1562-2479
期刊性質國內
收錄於SCI
產學合作
通訊作者Wong, Ching-Chang
審稿制度
國別中華民國
公開徵稿
出版型式紙本
相關連結
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