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Numerical Analysis of 2-D Positioned, Indoor, Fuzzy-Logic, Autonomous Navigation System Based on Chromaticity and
1The School of IT, Information and Control Engineering, Kunsan National University, Gunsan-si 54150, Korea.
Sensors (Basel, Switzerland)
|July 2, 2021
Summary
This study introduces a fuzzy-logic system for robot positioning in GPS-shaded areas using LED light analysis. The system enables autonomous navigation without collisions, proving effective for areas with poor GPS reception.
Area of Science:
- Robotics
- Artificial Intelligence
- Computer Vision
Background:
- Global Positioning System (GPS) limitations in shaded environments hinder autonomous navigation.
- Need for robust indoor positioning systems for mobile robots.
Purpose of the Study:
- To develop and evaluate a fuzzy-logic system for precise robot positioning in GPS-denied indoor settings.
- To enable autonomous navigation and obstacle avoidance in challenging environments.
Main Methods:
- Utilized a fuzzy-logic system analyzing LED light chromaticity and frequency-component ratio for positioning.
- Simulated an indoor environment with obstacles using MATLAB.
- Implemented behavioral rules for autonomous navigation and target approach.
Main Results:
- The fuzzy positioning system successfully determined robot coordinates (x and y).
- Simulations demonstrated successful target acquisition without collisions in various indoor scenarios.
- Validated the system's effectiveness in GPS-shaded environments.
Conclusions:
- The proposed fuzzy-logic system is suitable for autonomous vehicle navigation in areas with limited GPS signal.
- This method offers a viable solution for indoor navigation and applications like tunnel exploration.
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