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Vision-based obstacle avoidance system with fuzzy logic for humanoid robots

Published online by Cambridge University Press:  08 September 2016

Shu-Yin Chiang
Shu-Yin Chiang*
Affiliation:
Department of Information and Telecommunications Engineering, Ming Chuan University, 5 De Ming Road, Gui Shan Distract, Taoyuan City 333, Taiwan e-mail: [email protected]
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Abstract

This study presents the algorithm for a humanoid robot to accomplish an obstacle run in the FIRA HuroCup competition. It includes the integration of image processing and robot motion. DARwIn-OP (Dynamic Anthropomorphic Robot with Intelligence–Open Platform) was used as the humanoid robot, and it is equipped with a webcam as a vision system to obtain an image of what is in front of the robot. Image processing skills such as erosion, dilation, and eight-connected component labeling are applied to reduce image noise. Moreover, we use navigation grids with filters to avoid the obstacles. Fuzzy logic rules are used to implement the robot’s motion, allowing a humanoid robot to access any routes using obstacle avoidance to perform the tasks in the obstacle-run event.

Type
Review Article
Information
The Knowledge Engineering Review , Volume 32 , 2017 , e9
Copyright
© Cambridge University Press, 2016 

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