Door traversing for a vision-based mobile robot using PCA

Authors:
Min-Wook Seo;Young-Joong Kim;Myo-Taeg Lim
Affiliations:
Department of Electrical Engineering, Korea University, Seoul, Korea;Department of Electrical Engineering, Korea University, Seoul, Korea;Department of Electrical Engineering, Korea University, Seoul, Korea
Venue:
KES'05 Proceedings of the 9th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part IV
Year:
2005

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Abstract

This paper presents a method that a vision-based mobile robot can find location of doors and can safely traverse the door in complex environments. A robot must be able to find the door in order that it achieves the behavior that is scheduled after traversing a door. In this paper, PCA (Principal Component Analysis) algorithm using a vision sensor is used for a mobile robot to find the location of door. In addition, a fuzzy controller using a sonar data is used for a robot to avoid obstacles and traverse the door.