A Study of Intelligent Searching Mobile Robots under Unknown Environment

摘要

This paper presents an intelligent searching strategy for mobile robots consisting of a fuzzy-logic based searching algorithm over the unknown environments, and a dynamic template matching method to recognize and position the target. Specifically, sonar and omni-directional camera are utilized as sensors to detect the surrounding environments, based on which a fuzzy logic algorithm is adopted for local path planning to achieve a thorough search over the concerned area. Simultaneously, an image processing algorithm referred to as dynamic template matching method is proposed to recognize the target and determine its position. The designed searching strategy possesses various advantages including that it can start from any initial position without any prior requirements, and it exhibits exceptional adaptive abilities over unstructured environments. Experimental results are provided to demonstrate the performance of the proposed searching algorithm.