An Approach for Environment Mapping and Control of Wall Follower Cellbot Through Monocular Vision and Fuzzy System

Autores
Farias, Karoline de M.; Rodrigues Junior, WIlson Leal; Bezerra Neto, Ranulfo P.; Rabelo, Ricardo A. L.; Santana, Andre M.
Año de publicación
2017
Idioma
inglés
Tipo de recurso
documento de conferencia
Estado
versión publicada
Descripción
This paper presents an approach using range measurement through homography calculation to build 2D visual occupancy grid and control the robot through monocular vision. This approach is designed for a Cellbot architecture. The robot is equipped with wall following behavior to explore the environment, which enables the robot to trail objects contours, residing in the fuzzy control the responsibility to provide commands for the correct execution of the robot movements while facing the adversities in the environment. In this approach the Cellbot camera works as a sensor capable of correlating the images elements to the real world, thus the system is capable of finding the distances of the obstacles and that information is used for the occupancy grid mapping and for fuzzy control input. Experimental results with V-REP simulator are presented to validate the proposal, and the results were favorable to the use in robotics and in acceptable computing time.
Sociedad Argentina de Informática e Investigación Operativa (SADIO)
Materia
Ciencias Informáticas
occupancy-grid mapping
wall-following
fuzzy system
monocular vision
Nivel de accesibilidad
acceso abierto
Condiciones de uso
http://creativecommons.org/licenses/by-sa/4.0/
Repositorio
SEDICI (UNLP)
Institución
Universidad Nacional de La Plata
OAI Identificador
oai:sedici.unlp.edu.ar:10915/65511
Acceder
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oai_identifier_str oai:sedici.unlp.edu.ar:10915/65511
network_acronym_str SEDICI
repository_id_str 1329
network_name_str SEDICI (UNLP)
spelling An Approach for Environment Mapping and Control of Wall Follower Cellbot Through Monocular Vision and Fuzzy SystemFarias, Karoline de M.Rodrigues Junior, WIlson LealBezerra Neto, Ranulfo P.Rabelo, Ricardo A. L.Santana, Andre M.Ciencias Informáticasoccupancy-grid mappingwall-followingfuzzy systemmonocular visionThis paper presents an approach using range measurement through homography calculation to build 2D visual occupancy grid and control the robot through monocular vision. This approach is designed for a Cellbot architecture. The robot is equipped with wall following behavior to explore the environment, which enables the robot to trail objects contours, residing in the fuzzy control the responsibility to provide commands for the correct execution of the robot movements while facing the adversities in the environment. In this approach the Cellbot camera works as a sensor capable of correlating the images elements to the real world, thus the system is capable of finding the distances of the obstacles and that information is used for the occupancy grid mapping and for fuzzy control input. Experimental results with V-REP simulator are presented to validate the proposal, and the results were favorable to the use in robotics and in acceptable computing time.Sociedad Argentina de Informática e Investigación Operativa (SADIO)2017-09info:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionObjeto de conferenciahttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdfhttp://sedici.unlp.edu.ar/handle/10915/65511enginfo:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-sa/4.0/Creative Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)reponame:SEDICI (UNLP)instname:Universidad Nacional de La Platainstacron:UNLP2025-09-29T11:09:34Zoai:sedici.unlp.edu.ar:10915/65511Institucionalhttp://sedici.unlp.edu.ar/Universidad públicaNo correspondehttp://sedici.unlp.edu.ar/oai/snrdalira@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:13292025-09-29 11:09:34.753SEDICI (UNLP) - Universidad Nacional de La Platafalse
dc.title.none.fl_str_mv An Approach for Environment Mapping and Control of Wall Follower Cellbot Through Monocular Vision and Fuzzy System
title An Approach for Environment Mapping and Control of Wall Follower Cellbot Through Monocular Vision and Fuzzy System
spellingShingle An Approach for Environment Mapping and Control of Wall Follower Cellbot Through Monocular Vision and Fuzzy System
Farias, Karoline de M.
Ciencias Informáticas
occupancy-grid mapping
wall-following
fuzzy system
monocular vision
title_short An Approach for Environment Mapping and Control of Wall Follower Cellbot Through Monocular Vision and Fuzzy System
title_full An Approach for Environment Mapping and Control of Wall Follower Cellbot Through Monocular Vision and Fuzzy System
title_fullStr An Approach for Environment Mapping and Control of Wall Follower Cellbot Through Monocular Vision and Fuzzy System
title_full_unstemmed An Approach for Environment Mapping and Control of Wall Follower Cellbot Through Monocular Vision and Fuzzy System
title_sort An Approach for Environment Mapping and Control of Wall Follower Cellbot Through Monocular Vision and Fuzzy System
dc.creator.none.fl_str_mv Farias, Karoline de M.
Rodrigues Junior, WIlson Leal
Bezerra Neto, Ranulfo P.
Rabelo, Ricardo A. L.
Santana, Andre M.
author Farias, Karoline de M.
author_facet Farias, Karoline de M.
Rodrigues Junior, WIlson Leal
Bezerra Neto, Ranulfo P.
Rabelo, Ricardo A. L.
Santana, Andre M.
author_role author
author2 Rodrigues Junior, WIlson Leal
Bezerra Neto, Ranulfo P.
Rabelo, Ricardo A. L.
Santana, Andre M.
author2_role author
author
author
author
dc.subject.none.fl_str_mv Ciencias Informáticas
occupancy-grid mapping
wall-following
fuzzy system
monocular vision
topic Ciencias Informáticas
occupancy-grid mapping
wall-following
fuzzy system
monocular vision
dc.description.none.fl_txt_mv This paper presents an approach using range measurement through homography calculation to build 2D visual occupancy grid and control the robot through monocular vision. This approach is designed for a Cellbot architecture. The robot is equipped with wall following behavior to explore the environment, which enables the robot to trail objects contours, residing in the fuzzy control the responsibility to provide commands for the correct execution of the robot movements while facing the adversities in the environment. In this approach the Cellbot camera works as a sensor capable of correlating the images elements to the real world, thus the system is capable of finding the distances of the obstacles and that information is used for the occupancy grid mapping and for fuzzy control input. Experimental results with V-REP simulator are presented to validate the proposal, and the results were favorable to the use in robotics and in acceptable computing time.
Sociedad Argentina de Informática e Investigación Operativa (SADIO)
description This paper presents an approach using range measurement through homography calculation to build 2D visual occupancy grid and control the robot through monocular vision. This approach is designed for a Cellbot architecture. The robot is equipped with wall following behavior to explore the environment, which enables the robot to trail objects contours, residing in the fuzzy control the responsibility to provide commands for the correct execution of the robot movements while facing the adversities in the environment. In this approach the Cellbot camera works as a sensor capable of correlating the images elements to the real world, thus the system is capable of finding the distances of the obstacles and that information is used for the occupancy grid mapping and for fuzzy control input. Experimental results with V-REP simulator are presented to validate the proposal, and the results were favorable to the use in robotics and in acceptable computing time.
publishDate 2017
dc.date.none.fl_str_mv 2017-09
dc.type.none.fl_str_mv info:eu-repo/semantics/conferenceObject
info:eu-repo/semantics/publishedVersion
Objeto de conferencia
http://purl.org/coar/resource_type/c_5794
info:ar-repo/semantics/documentoDeConferencia
format conferenceObject
status_str publishedVersion
dc.identifier.none.fl_str_mv http://sedici.unlp.edu.ar/handle/10915/65511
url http://sedici.unlp.edu.ar/handle/10915/65511
dc.language.none.fl_str_mv eng
language eng
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-sa/4.0/
Creative Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-sa/4.0/
Creative Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:SEDICI (UNLP)
instname:Universidad Nacional de La Plata
instacron:UNLP
reponame_str SEDICI (UNLP)
collection SEDICI (UNLP)
instname_str Universidad Nacional de La Plata
instacron_str UNLP
institution UNLP
repository.name.fl_str_mv SEDICI (UNLP) - Universidad Nacional de La Plata
repository.mail.fl_str_mv alira@sedici.unlp.edu.ar
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score 13.070432

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