IJCCE 2014 Vol.3(1): 69-74 ISSN: 2010-3743
DOI: 10.7763/IJCCE.2014.V3.294
DOI: 10.7763/IJCCE.2014.V3.294
Ground Robot Navigation Relies on Blimp Vision Information
Rami Al-Jarrah and Hubert Roth
Abstract—Blimp and ground robots have received much attention in the research due to their strong potential in the explorations tasks. There are many applications where a robot must explore an area without previous knowledge of the environment. This work presents a system composed by a blimp and ground robots that cooperates and share visual information to address those requirements. To realize this task, an efficient vision-based object detection and localization algorithm is proposed by using Speeded up Robust Features technique. A navigation system for ground robot was proposed supported by vision data from the blimp robot. These data are optimized by fuzzy sets model to correct the prediction position information of the ground robot and the obstacles in its pathway. Based on these data, a navigation and obstacle avoidance system is used to control the ground vehicle trajectory. The overall system has been tested in actual missions, and results show that the system has good results in navigation and it is effective, robust and suitable for complex tasks.
Index Terms—Blimp robot, ground robot, fuzzy logic, computer vision.
The authors are with the Control and Automatic Engineering Department, Siegen University, Germany (e-mail: {rami.al-jarrah, Hubert.roth}@uni-siegen.de).
Index Terms—Blimp robot, ground robot, fuzzy logic, computer vision.
The authors are with the Control and Automatic Engineering Department, Siegen University, Germany (e-mail: {rami.al-jarrah, Hubert.roth}@uni-siegen.de).
Cite:Rami Al-Jarrah and Hubert Roth, "Ground Robot Navigation Relies on Blimp Vision Information," International Journal of Computer and Communication Engineering vol. 3, no. 1, pp. 69-74, 2014.
General Information
ISSN: 2010-3743 (Online)
Abbreviated Title: Int. J. Comput. Commun. Eng.
Frequency: Quarterly
DOI: 10.17706/IJCCE
Editor-in-Chief: Dr. Maode Ma
Abstracting/ Indexing: INSPEC, CNKI, Google Scholar, Crossref, EBSCO, ProQuest, and Electronic Journals Library
E-mail: ijcce@iap.org
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