ANFIS -based navigation for HVAC service robot with image processing

In this paper, we present an ongoing work on the autonomous navigation of a mobile service robot for Heat, Ventilation and Air Condition (HVAC) ducting. CCD camera mounted on the front-end of our robot is used to analyze the ducts openings (blob analysis) in order to differentiate them from other la...

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Main Authors:	Salleh, Mohd Zoolfadli Md, Alang Md Rashid, Nahrul Khair, Mohd Mustafah, Yasir
Format:	Article
Language:	English
Published:	IOP Publishing 2013
Subjects:	T Technology (General)
Online Access:	http://irep.iium.edu.my/35998/ http://irep.iium.edu.my/35998/ http://irep.iium.edu.my/35998/1/8._ANFIS_-Based_Navigation_for_HVAC_Service_Robot_with_Image_Processing.pdf

id	iium-35998
recordtype	eprints
spelling	iium-359982018-05-24T07:16:16Z http://irep.iium.edu.my/35998/ ANFIS -based navigation for HVAC service robot with image processing Salleh, Mohd Zoolfadli Md Alang Md Rashid, Nahrul Khair Mohd Mustafah, Yasir T Technology (General) In this paper, we present an ongoing work on the autonomous navigation of a mobile service robot for Heat, Ventilation and Air Condition (HVAC) ducting. CCD camera mounted on the front-end of our robot is used to analyze the ducts openings (blob analysis) in order to differentiate them from other landmarks (blower fan, air outlets and etc). Distance between the robot and duct openings is measured using ultrasonic sensor. Controller chosen is ANFIS where its architecture accepts three inputs; recognition of duct openings, robot positions and distance while the outputs is maneuver direction (left or right).45 membership functions are created from which produces 46 training epochs. In order to demonstrate the functionality of the system, a working prototype is developed and tested inside HVAC ducting in ROBOCON Lab, IIUM. IOP Publishing 2013 Article PeerReviewed application/pdf en http://irep.iium.edu.my/35998/1/8._ANFIS_-Based_Navigation_for_HVAC_Service_Robot_with_Image_Processing.pdf Salleh, Mohd Zoolfadli Md and Alang Md Rashid, Nahrul Khair and Mohd Mustafah, Yasir (2013) ANFIS -based navigation for HVAC service robot with image processing. IOP Conference Series: Materials Science and Engineering, 53 (1). 012087. ISSN 1757-8981 http://stacks.iop.org/1757-899X/53/i=1/a=012087
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	T Technology (General)
spellingShingle	T Technology (General) Salleh, Mohd Zoolfadli Md Alang Md Rashid, Nahrul Khair Mohd Mustafah, Yasir ANFIS -based navigation for HVAC service robot with image processing
description	In this paper, we present an ongoing work on the autonomous navigation of a mobile service robot for Heat, Ventilation and Air Condition (HVAC) ducting. CCD camera mounted on the front-end of our robot is used to analyze the ducts openings (blob analysis) in order to differentiate them from other landmarks (blower fan, air outlets and etc). Distance between the robot and duct openings is measured using ultrasonic sensor. Controller chosen is ANFIS where its architecture accepts three inputs; recognition of duct openings, robot positions and distance while the outputs is maneuver direction (left or right).45 membership functions are created from which produces 46 training epochs. In order to demonstrate the functionality of the system, a working prototype is developed and tested inside HVAC ducting in ROBOCON Lab, IIUM.
format	Article
author	Salleh, Mohd Zoolfadli Md Alang Md Rashid, Nahrul Khair Mohd Mustafah, Yasir
author_facet	Salleh, Mohd Zoolfadli Md Alang Md Rashid, Nahrul Khair Mohd Mustafah, Yasir
author_sort	Salleh, Mohd Zoolfadli Md
title	ANFIS -based navigation for HVAC service robot with image processing
title_short	ANFIS -based navigation for HVAC service robot with image processing
title_full	ANFIS -based navigation for HVAC service robot with image processing
title_fullStr	ANFIS -based navigation for HVAC service robot with image processing
title_full_unstemmed	ANFIS -based navigation for HVAC service robot with image processing
title_sort	anfis -based navigation for hvac service robot with image processing
publisher	IOP Publishing
publishDate	2013
url	http://irep.iium.edu.my/35998/ http://irep.iium.edu.my/35998/ http://irep.iium.edu.my/35998/1/8._ANFIS_-Based_Navigation_for_HVAC_Service_Robot_with_Image_Processing.pdf
first_indexed	2023-09-18T20:51:32Z
last_indexed	2023-09-18T20:51:32Z
_version_	1777410027143823360

ANFIS -based navigation for HVAC service robot with image processing

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