Autonomous Vehicle Navigation in Indoor Environments by Computer Vision and Fuzzy Guidance Techniques

• Main Authors: Yi-Chieh Chen, 陳逸傑
• Other Authors: Wen-Hsiang Tsai
• Format: Others
• Language: en_US
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/51465050465337196552

碩士 === 國立交通大學 === 資訊科學系所 === 92 === A vision-based fuzzy-guidance approach to autonomous vehicle navigation in indoor environments with a capability of avoiding obstacles appearing in planned paths is proposed. A small vehicle with wireless control and image grabbing capabilities is used as a test bed. A simple learning strategy is designed for flexible and effective non-visual learning of reachable spots in rooms without rules or restrictions. Through this simple learning strategy, a planned path is obtained by analyzing user-driving commands and odometer data. And following the learned path, the vehicle can accomplish specified navigation sessions by proposed collision-avoidance strategies based on the use of fuzzy-control guidance techniques and input images acquired by an onboard vision system. And some strategies for navigation accuracy maintenance are also proposed. Finally, experimental results showing flexibility of the proposed approach for navigations in indoor environments are also included.