Multilayered Fuzzy Behavior Control for an Autonomous Mobile Robot with Multiple Omnidirectional Vision System: MOVIS

摘要

We propose a multiple omnidirectional vision system (MOVIS) with three omnidirectional cameras and calculation for measuring an object position and localization in an autonomous mobile robot. In identifying the robot’s location, we improved measurement accuracy by correcting the absolute location based on landmark measurement error in the origin of absolute coordinates. We propose omnidirectional behavior control for collision avoidance and object chasing using fuzzy reasoning in an autonomous mobile robot with MOVIS. We also report experimental results confirming the efficiency of our proposal using a RoboCup soccer robot in a dynamic environment.