Fuzzy Based Indoor Navigation for Mobile Robots

Abstract

In today's world the expansion of autonomous robots is getting bigger and bigger, while in everyday life the people can meet devices which are capable of managing a wide range of tasks independently. In order to manage tasks these robots are equipped with sensors, which they use to be able to sample and analyze the parameters of their environment. The robots use obtained information to modify and help their own operation or rather its smooth running. Particular autonomous robots navigate themselves using the data utilized for their orientation and if necessary they manage obstacle avoidance in order, that the robot may reach its destination. Such sensors can be cameras too which provide image data of the robot's environment. The navigation procedure to be introduced in the article was developed for a Turtlebot robot utilizing stereo vision. The robot is modularly built. Real-time 3D reconstruction, which is the basis of navigation, is to be introduced in detail in another article yet to be published.