Wall following and human detection for mobile robot surveillance in indoor environment

Abstract

-This paper describes the design of an indoor surveillance system capable of wall following and human detection based on intelligent mobile robot navigation. The wall following is performed based on a differential velocity control using type-2 fuzzy logic for a wheeled mobile robot equipped with IR sensors and sonar sensors, and human detection is performed by a human detection sensor. We have tested the application of our design in mobile robot for an indoor surveillance task of a polygon terrain using right wall following. The surveillance system of mobile robot is effective to work well in our testing.

Implementation of Fuzzy Logic Controller for Wall Following and Obstacle Avoiding Robot

“…In the context of sensor technology, our method employs the common ultrasonic sensor for wall following task and the advanced camera sensor for detecting obstacle. Compared to [4], [7][8][9], our camera sensor offers the flexible detection of the obstacles.…”

“…Wall following and obstacle avoiding are the important tasks for the autonomous mobile robot. Many algorithms and sensors have been proposed for controlling the robot to follow the wall [1][2][3][4][5][6]. The Lyapunov method was employed to steer the mobile robot which is driven by the differential wheels [1].…”

“…In the method, the error distance and the error orientation of the robot from the wall were selected as the state variables of the model. To overcome the problems of modeling error and sensing uncertainty, the Fuzzy Logic Controllers (FLCs) were employed [2][3][4][5][6].…”

“…To handle the different situations of the wall, i.e. the flat wall, the sharp corner, and the limit corner, the multi sensors system was developed in [4]. The multi sensors consisted of IR sensors and sonar sensors.…”