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Vision-based fuzzy controllers for navigation tasks

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2 Author(s)
Kundur, S.R. ; Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA ; Raviv, D.

This paper deals with vision-based fuzzy closed-loop control schemes for collision avoidance as well as maintenance of clearance in a-priori unknown textured environments. These control schemes employ a visual motion cue, we call the visual threat cue (VTC) that provides some measure for a relative change in range as well as clearance between 3D surface and a fixated observer in motion. It is a collective measure obtained directly from the raw data of gray level images and is independent of the type of 3D surface texture. This motion cue is scale-independent, rotation independent, needs no 3D reconstruction and is measured in [time-1] units. Fuzzy control is closer in spirit to human thinking and can implement linguistically-expressed heuristic control policies directly without any knowledge about the dynamics of the complex process. The fuzzy controllers were implemented in real-time using a 486-based personal computer and a camera capable of undergoing 6-DOF motion. Results are highly encouraging

Published in:

Intelligent Vehicles '95 Symposium., Proceedings of the

Date of Conference:

25-26 Sep 1995