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Omnidirectional Adaptive Behavior Control for Autonomous Mobile Robot

  • Yoichiro Maeda
  • Wataru Shimizuhira
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3558)

Abstract

We propose a multiple omnidirectional vision system with three omnidirectional cameras and its calculation method for the measurement of the object position and the self-localization in RoboCup soccer robots. On the identification of the self-position, we try to improve the accuracy of the measurement by correcting the absolute position based on the measurement error of landmarks in the origin of the absolute coordinate. Furthermore, we propose the omnidirectional behavior control method for collision avoidance and object chasing motion by using fuzzy reasoning in an autonomous mobile robot with MOVIS. In this paper, we also report some experimental results to confirm the efficiency of the proposed method by using a soccer robot in dynamic environment.

Keywords

Fuzzy Rule Collision Avoidance Behavior Control Object Position Fuzzy Reasoning 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Yoichiro Maeda
    • 1
  • Wataru Shimizuhira
    • 1
  1. 1.Dept. of Human and Artificial Intelligent Systems, Faculty of EngineeringUniv. of FukuiFukuiJapan

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