Wall following and human detection for mobile robot surveillance in indoor environment
Mechatronics and Automation（2014）
摘要
This paper describes the design of an indoor surveillance system capable of wall following and human detection based on intelligent mobile robot navigation. The wall following is performed based on a differential velocity control using type-2 fuzzy logic for a wheeled mobile robot equipped with IR sensors and sonar sensors, and human detection is performed by a human detection sensor. We have tested the application of our design in mobile robot for an indoor surveillance task of a polygon terrain using right wall following. The surveillance system of mobile robot is effective to work well in our testing.
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关键词
control system synthesis,fuzzy control,fuzzy set theory,indoor environment,infrared detectors,intelligent robots,mobile robots,path planning,robot kinematics,sonar detection,surveillance,velocity control,ir sensors,differential velocity control,human detection sensor,indoor surveillance system design,indoor surveillance task,intelligent mobile robot navigation,polygon terrain,right wall following,sonar sensors,type-2 fuzzy logic,wheeled mobile robot surveillance,wall following,fuzzy logic controller,human detection
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