Abstract
Vision-based motion control of an autonomous vehicle operating in real world requires fast image processing and robustness with respect to noisy sensor readings and with respect to varying illumination conditions. In order to improve vehicle navigation performance in out-door environments, this paper presents methods for recognizing landmarks based on fuzzy reasoning. Firstly, a fuzzy thresholding algorithm is proposed to segment roads and to extract white line marks on streets from images. Secondly, some special domain knowledge about edges on roads represented by fuzzy sets is integrated into the rule base of a fuzzy edge detector. Based on this, the fuzzy thresholding algorithm is adopted to recognize road edges. In addition, a method for path planning in sensor space is presented and a path following behavior based on a fuzzy rule base is defined to control vehicle motion. The proposed methods are applied to navigate the THMR-III autonomous vehicle in out-door environments. Some experimental driving maneuvers have been performed to prove their effectiveness and their robustness.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bezdek, J.C., Chandrasekhar, R., Attikiouzel, Y.: A geometric approach to edge detection. IEEE Transactions on Fuzzy Systems 6(1), 52–75 (1998)
Bezdek, J.C., Shirvaikar, M.: Edge detection using the fuzzy control paradigm. In: Proc. of 2nd Euro. Congress on Intelligent Techniques and Soft Computing, Aachen, Germany, pp. 1–12 (1994)
Brooks, A.: A robust layered control system for a mobile robot. IEEE J. Robot. Automation RA-2, 14–23 (1986)
Arkin, R.C., Murphy, R.R.: Autonomous Navigation in a Manufacturing Environment. IEEE Trans. Robot. Automation RA-6, 445–454 (1990); Congress on Intelligent Techniques and Soft Computing, Aachen, Germany, pp. 1–12 (1994)
Jain, A.K.: Fundamentals of Digital Image Processing. Prentice-Hall, Inc., Englewood Cliffs (1989)
Lepage, R., Poussart, D.: Multi-Resolution Edge Detector. In: Proc. IJCNN (1992)
Li, W., et al.: Detection of road edge for an autonomous mobile vehicle by fuzzy logic inference. In: Proc. of International Conference on Neural Information Processing, pp. 413–416 (1995)
Li, W., Lu, G.T., Wang, Y.Q.: Recognizing white line markings for visionguided vehicle navigation by fuzzy reasoning. Pattern Recognition Letters 18(8), 771–780 (1997)
Moura, L., Martin, F.: Edge detection through cooperation and competition, In: Proc. of IJCNN (1991)
Pedrycz, W.: Fuzzy control and fuzzy systems, Research Studies Press Ltd., Second edition (1993)
Regensburger, U., Graefe, V.: Visual recognition of obstacles on roads. In: Proc. of IEEE/RSJ International Conference On Intelligent Robots and Systems, pp. 980–987 (1994)
Russo, F., Ramponi, G.: Edge extraction by FIRE operators. In: Proc. of the Third IEEE International Conference on Fuzzy Systems, pp. 249–253 (1994)
Tao, C.W., Thompson, W.E., Taur, J.S.: A fuzzy If -Then approach to edge detection. In: Proc. of 2rd IEEE International Conference on Fuzzy Systems, pp. 1356–1361 (1993)
Yao, X.H.: The research of multiple-sensor based local planning and navigation for the autonomous land vehicle, The Master Thesis, Department of Computer Science, Tsinghua University (1994)
Pin, F., Watanabe, Y.: Driving a car using reflexive behavior. In: Proc. of the 2nd IEEE International Conference on Fuzzy Systems, pp. 1425–1430 (1993)
Ruspini, E.H.: Fuzzy logic-based planning and reactive control of autonomous mobile robots. In: Proc. of the 1995 International Conference on Fuzzy Systems, pp. 1071–1076 (1995)
Li, W.: Fuzzy-logic-based reactive behavior control of an autonomous mobile system in unknown environments. Engineering Application of Artificial Intelligence 7(5), 521–531 (1994)
Zadeh, L.A.: Fuzzy sets. Information and Control 8, 338–353 (1965)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1999 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Li, W., Wahl, F.M., Zhou, J.Z., Wang, H., He, K.Z. (1999). Vision-Based Behavior Control of Autonomous Systems by Fuzzy Reasoning. In: Christensen, H.I., Bunke, H., Noltemeier, H. (eds) Sensor Based Intelligent Robots. Lecture Notes in Computer Science(), vol 1724. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10705474_17
Download citation
DOI: https://doi.org/10.1007/10705474_17
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-66933-3
Online ISBN: 978-3-540-46619-2
eBook Packages: Springer Book Archive