Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
Dresden
TUDpress
2012
|
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | XVIII, 142 S. Ill., graph. Darst. 21 cm |
| ISBN: | 9783942710879 |
Staff View
MARC
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| 245 | 1 | 0 | |a Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts |c Ngoc Anh Mai |
| 264 | 1 | |a Dresden |b TUDpress |c 2012 | |
| 300 | |a XVIII, 142 S. |b Ill., graph. Darst. |c 21 cm | ||
| 336 | |b txt |2 rdacontent | ||
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Record in the Search Index
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IMAGE 1
CONTENTS
CHAPTER 1: I N T R O D U C T I O N 1
1.1. M O T I V A T I O N 1
1.2. S T A T E O F T H E A R T 2
1.2.1. V I S U A L M O B I L E R O B O T S 2
1.2.2. O P T I C A L F L O W - B A S E D N A V I G A T I O N 3
1.2.3. B E H A V I O R - B A S E D C O N T R O L U S I N G F U Z Z Y L O
G I C 6
1.2.4. T O P O L O G I C A L P A T H P L A N N I N G 8
1.3. O B J E C T I V E S O F T H E T H E S I S A N D A C H I E V E D C O
N T R I B U T I O N S 1 0
1.4. O R G A N I Z A T I O N O F T H E T H E S I S 1 1
C H A P T E R 2: C O N C E P T O F B E H A V I O R - B A S E D M O T I O
N C O N T R O L S Y S T E M 1 3
2 . 1 . B A S I C P R I N C I P L E S F O R D E S I G N I N G B E H A V
I O R - B A S E D C O N T R O L S Y S T E M S 1 3
2 . 2 . F U N C T I O N A L A R C H I T E C T U R E O F T H E B E H A V
I O R - B A S E D C O N T R O L L E R 1 3
2 . 3 . M O D U L E S O F T H E B E H A V I O R - B A S E D C O N T R O
L L E R 1 5
2 . 3 . 1 . O F F 1 S M O D U L E 15
2 . 3 . 2 . P A P F 1 S M O D U L E 16
2 . 3 . 3 . M O F 1 S M O D U L E 1 7
C H A P T E R 3: F U Z Z Y - B A S E D O P T I C A L F L O W I N T E R P
R E T A T I O N ( O F F I S ) 1 9
3 . 1 . O V E R V I E W 1 9
3 . 2 . B A S I C C O N C E P T O F O P T I C A L F L O W 2 0
3 . 3 . B A S I C C O N C E P T S O F O P T I C A L F L O W I M A G E I
N T E R P R E T A T I O N 2 1
3 . 3 . 1 . T O P O L O G I C A L S T R U C T U R E F R O M M O T I O N
2 1
3 . 3 . 2 . H I E R A R C H I C A L S E G M E N T A T I O N - P Y R A M
I D A P P R O A C H 2 1
3 . 3 . 3 . T W O - P L A N E B U I L T O B J E C T S ( T P O S ) 2 2
3 . 4 . S T A T I S T I C A L O P T I C A L F L O W M E T R I C S 2 3
3 . 4 . 1 . A V E R A G E D O P T I C A L F L O W V E C T O R M E T R I
C S 2 3
3 . 4 . 2 . S T A T I S T I C A L M E T R I C S O F S Y M M E T R I C S
C E N E S 2 4
3 . 4 . 3 . S T A T I S T I C A L M E T R I C S O F A S Y M M E T R I C
S C E N E S 2 8
3 . 4 . 4 . S E L E C T I O N O F S T A T I S T I C A L M E T R I C S 3
0
HTTP://D-NB.INFO/1027314767
IMAGE 2
3 . 5 . H I E R A R C H I C A L S E G M E N T A T I O N 3 0
3 . 6 . Q U A D R A N T A V E R A G I N G 3 1
3 . 7 . S T R U C T U R A L I D E N T I F I C A T I O N 3 2
3 . 7 . 1 . P L A N E I D E N T I F I C A T I O N 3 2
3 . 7 . 2 . T I L T I D E N T I F I C A T I O N 3 2
3 . 7 . 3 . S H A P E I N T E R P R E T A T I O N 3 3
3 . 8 . F U Z Z Y D I S T A N C E C A L C U L A T I O N 3 4
3 . 8 . 1 . P R I N C I P L E O F O P T I C A L FLOW-BASED D I S T A N C
E C A L C U L A T I O N 3 4
3 . 8 . 2 . F U Z Z Y - B A S E D D I S T A N C E C A L C U L A T I O N
3 7
3 . 9 . I N T E R P R E T A T I O N S 3 8
3 . 9 . 1 . T P O T Y P E I N T E R P R E T A T I O N U S I N G F U Z Z
Y L O G I C 3 8
3 . 9 . 2 . O B S T A C L E D I R E C T I O N I N T E R P R E T A T I O
N 4 3
3 . 9 . 3 . D I S T A N C E I N T E R P R E T A T I O N 4 4
3 . 1 0 . O U T L I E R D E T E C T I O N FILTER O F O P T I C A L F L O
W 4 6
C H A P T E R 4: F U Z Z Y - B A S E D M O T I O N C O N T R O L ( M O F
I S ) 5 1
4 . 1 . O V E R V I E W 5 1
4 . 2 . D E S C R I P T I O N O F D I F F E R E N T I A L D R I V E M O
B I L E R O B O T K I N E M A T I C S 5 3
4 . 2 . 1 . K I N E M A T I C S D E S C R I P T I O N IN T H E INERTIAL
F R A M E 5 3
4 . 2 . 2 . K I N E M A T I C S D E S C R I P T I O N IN T H E P O L A R
C O O R D I N A T E S 5 4
4 . 3 . B A S I C S O F B E H A V I O R - B A S E D R O B O T I C S 5 5
4 . 3 . 1 . D E F I N I T I O N O F N O T A T I O N 5 5
4 . 3 . 2 . B E H A V I O R A L C O O R D I N A T I O N M E T H O D S 5
7
4 . 4 . M O F I S P R I M I T I V E B E H A V I O R S 5 9
4 . 5 . M O F I S C O M P O S I T E B E H A V I O R S 6 1
4 . 6 . M O F I S B E H A V I O R S E L E C T O R 6 3
4 . 7 . F U Z Z Y - B A S E D K I N E M A T I C F U S I O N 6 4
C H A P T E R 5: F U Z Z Y - B A S E D P A T H P L A N N I N G ( P A P F
I S ) 6 7
5.1. O V E R V I E W 6 7
5 . 2 . C O N C E P T O F T O P O L O G I C A L M A P 6 9
5 . 2 . 1 . D E F I N I T I O N O F V A R I A B L E S 6 9
5 . 2 . 2 . D E F I N I T I O N O F T O P O L O G I C A L M A P 7 0
IMAGE 3
5 . 3 . G L O B A L P L A N N E R 7 2
5 . 3 . 1 . G R A P H S C A R C H A L G O R I T H M S 7 2
5 . 3 . 2 . P A T H S E A R C H 7 2
5 . 3 . 3 . G O A L D E F I N I T I O N 7 3
5 . 4 . L O C A L P L A N N E R 7 3
5 . 4 . 1 . G U I D A N C E A C T I O N 7 3
5 . 4 . 2 . G O A L V E R I F I C A T I O N 7 4
5 . 4 . 3 . G O A L U P D A T E 7 4
5 . 5 . P A P F I S P R I M I T I V E B E H A V I O R S 7 5
5 . 6 . P A P F I S C O M P O S I T E B E H A V I O R S 7 8
5 . 7 . P A P F I S B E H A V I O R S E L E C T O R 8 1
C H A P T E R 6: S I M U L A T I O N B A S E D TEST A N D V E R I F I C
A T I O N 8 3
6.1. S I M U L A T I O N S E T U P S 8 3
6 . 1 . 1 . S I M U L A T E D E N V I R O N M E N T 8 3
6 . 1 . 2 . T O P O L O G I C A L M A P 8 5
6 . 1 . 3 . S O F T W A R E S T A I C T U R E 8 7
6 . 2 . S I M U L A T I O N R E S U L T S 8 9
6 . 2 . 1 . S I M U L A T I O N I M P L E M E N T A T I O N W I T H F U
R N I T U R E 8 9
6 . 2 . 2 . S I M U L A T I O N I M P L E M E N T A T I O N W I T H S T
A T I C O B S T A C L E S 9 3
6 . 2 . 3 . S I M U L A T I O N I M P L E M E N T A T I O N W I T H N A
R R O W A R E A S 9 7
6 . 2 . 4 . S I M U L A T I O N I M P L E M E N T A T I O N W I T H D Y
N A M I C O B S T A C L E S 101
6 . 3 . D I S C U S S I O N 1 0 5
C H A P T E R 7: E X P E R I M E N T A L TEST A N D VERIFICATION 107
7.1. E X P E R I M E N T S E T U P S 1 0 7
7 . 1 . 1 . E X P E R I M E N T E N V I R O N M E N T 1 0 7
7 . 1 . 2 . H A R D W A R E 107
7 . 1 . 3 . S O F T W A R E S T R U C T U R E 1 0 9
7 . 2 . E X P E R I M E N T O F M O T I O N C O N T R O L W I T H O U T
P A T H P L A N N I N G E X P - M O 1 1 0
7 . 3 . E X P E R I M E N T O F M O T I O N C O N T R O L W I T H P A T
H P L A N N I N G E X P - M P 1 1 5
7 . 3 . 1 . T O P O L O G I C A L M A P 115
7 . 3 . 2 . E X P E R I M E N T W I T H I N H E R E N T O B S T A C L E
S E X P - M P - I 1 1 7
IMAGE 4
7 . 3 . 3 . E X P E R I M E N T W I T H A R T I F I C I A L O B S T A C
L E S E X P - M P - A 121
7 . 4 . C O M P U T A T I O N T I M E O F F U N C T I O N A L M O D U L
E S 1 2 4
7 . 5 . D I S C U S S I O N 1 2 5
C H A P T E R 8: D I S C U S S I O N A N D C O N C L U S I O N 1 2 7
8 . 1 . D I S C U S S I O N 1 2 7
8 . 2 . C O N T R I B U T I O N S 1 2 8
8 . 3 . O U T L O O K 1 2 9
R E F E R E N C E S 131
A P P E N D I X A : F I G U R E S A N D D A T A O F T H E S I M U L A T
I O N S 1 3 7 |
| any_adam_object | 1 |
| author | Mai, Ngoc Anh 1977- |
| author_GND | (DE-588)1027732267 |
| author_facet | Mai, Ngoc Anh 1977- |
| author_role | aut |
| author_sort | Mai, Ngoc Anh 1977- |
| author_variant | n a m na nam |
| building | Verbundindex |
| bvnumber | BV042026895 |
| ctrlnum | (OCoLC)820485530 (DE-599)DNB1027314767 |
| dewey-full | 629.8932 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932 |
| dewey-search | 629.8932 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV042026895 |
| illustrated | Illustrated |
| indexdate | 2024-08-03T01:43:10Z |
| institution | BVB |
| isbn | 9783942710879 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-027468430 |
| oclc_num | 820485530 |
| open_access_boolean | |
| owner | DE-83 |
| owner_facet | DE-83 |
| physical | XVIII, 142 S. Ill., graph. Darst. 21 cm |
| publishDate | 2012 |
| publishDateSearch | 2012 |
| publishDateSort | 2012 |
| publisher | TUDpress |
| record_format | marc |
| spelling | Mai, Ngoc Anh 1977- Verfasser (DE-588)1027732267 aut Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts Ngoc Anh Mai Dresden TUDpress 2012 XVIII, 142 S. Ill., graph. Darst. 21 cm txt rdacontent n rdamedia nc rdacarrier Zugl.: Dresden, Techn. Univ., Diss., 2012 Zielverfolgung (DE-588)4190799-1 gnd rswk-swf Bildverstehen (DE-588)4202022-0 gnd rswk-swf Optischer Fluss (DE-588)1037053141 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Navigation (DE-588)4041457-7 gnd rswk-swf Fuzzy-logisches Schließen (DE-588)4659944-7 gnd rswk-swf Umweltmodell Informatik (DE-588)4250471-5 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Kollisionsschutz (DE-588)4199255-6 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Mobiler Roboter (DE-588)4191911-7 s Bahnplanung (DE-588)4267628-9 s Umweltmodell Informatik (DE-588)4250471-5 s Fuzzy-logisches Schließen (DE-588)4659944-7 s Optischer Fluss (DE-588)1037053141 s Bildverstehen (DE-588)4202022-0 s Kollisionsschutz (DE-588)4199255-6 s Navigation (DE-588)4041457-7 s Zielverfolgung (DE-588)4190799-1 s DE-604 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=4169386&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027468430&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Mai, Ngoc Anh 1977- Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts Zielverfolgung (DE-588)4190799-1 gnd Bildverstehen (DE-588)4202022-0 gnd Optischer Fluss (DE-588)1037053141 gnd Mobiler Roboter (DE-588)4191911-7 gnd Navigation (DE-588)4041457-7 gnd Fuzzy-logisches Schließen (DE-588)4659944-7 gnd Umweltmodell Informatik (DE-588)4250471-5 gnd Bahnplanung (DE-588)4267628-9 gnd Kollisionsschutz (DE-588)4199255-6 gnd |
| subject_GND | (DE-588)4190799-1 (DE-588)4202022-0 (DE-588)1037053141 (DE-588)4191911-7 (DE-588)4041457-7 (DE-588)4659944-7 (DE-588)4250471-5 (DE-588)4267628-9 (DE-588)4199255-6 (DE-588)4113937-9 |
| title | Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts |
| title_auth | Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts |
| title_exact_search | Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts |
| title_full | Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts Ngoc Anh Mai |
| title_fullStr | Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts Ngoc Anh Mai |
| title_full_unstemmed | Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts Ngoc Anh Mai |
| title_short | Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts |
| title_sort | optical flow based perception behavior based control and topological path planning for mobile robots using fuzzy logic concepts |
| topic | Zielverfolgung (DE-588)4190799-1 gnd Bildverstehen (DE-588)4202022-0 gnd Optischer Fluss (DE-588)1037053141 gnd Mobiler Roboter (DE-588)4191911-7 gnd Navigation (DE-588)4041457-7 gnd Fuzzy-logisches Schließen (DE-588)4659944-7 gnd Umweltmodell Informatik (DE-588)4250471-5 gnd Bahnplanung (DE-588)4267628-9 gnd Kollisionsschutz (DE-588)4199255-6 gnd |
| topic_facet | Zielverfolgung Bildverstehen Optischer Fluss Mobiler Roboter Navigation Fuzzy-logisches Schließen Umweltmodell Informatik Bahnplanung Kollisionsschutz Hochschulschrift |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=4169386&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027468430&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT maingocanh opticalflowbasedperceptionbehaviorbasedcontrolandtopologicalpathplanningformobilerobotsusingfuzzylogicconcepts |