Road recognition for vision navigation of an autonomous vehicle by fuzzy reasoning
✍ Scribed by Wei Li; Xiaojia Jiang; Yangxing Wang
- Publisher
- Elsevier Science
- Year
- 1998
- Tongue
- English
- Weight
- 434 KB
- Volume
- 93
- Category
- Article
- ISSN
- 0165-0114
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✦ Synopsis
This paper presents a method for vision navigation of an autonomous vehicle by road recognition based on fuzzy reasoning. A mobile robot that operates in out-door environments requires fast image processing, noise protection, and robustness to environment changes. Some researchers use fuzzy inference for edge detection. Their idea is to classify a pixel in an original image into a border region or a uniform region according to luminance differences between the pixel and its neighboring ones. In this paper it is studied that for robot navigation some special knowledge is integrated into a fuzzy rule base to recognize road edges based on an approach for general edge extraction. This method is implemented on the THMR-III mobile robot. Some experiments show that this method yields satisfactory results in noise protection, and robustness to environment changes.