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Vision-based obstacle avoidance system with fuzzy logic for humanoidrobots

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: sychiang@mail.mcu.edu.tw
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Abstract

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

Information

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

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