Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 32759
Underneath Vehicle Inspection Using Fuzzy Logic, Subsumption and OpenCV Library

Authors: Hazim Abdulsada

Abstract:

The inspection of underneath vehicle system has been given significant attention by governments after the threat of terrorism become more prevalent. New technologies such as mobile robots and computer vision are led to have more secure environment. This paper proposed that a mobile robot like Aria robot can be used to search and inspect the bombs under parking a lot vehicle. This robot is using fuzzy logic and subsumption algorithms to control the robot that movies underneath the vehicle. An OpenCV library and laser Hokuyo are added to Aria robot to complete the experiment for under vehicle inspection. This experiment was conducted at the indoor environment to demonstrate the efficiency of our methods to search objects and control the robot movements under vehicle. We got excellent results not only by controlling the robot movement but also inspecting object by the robot camera at same time. This success allowed us to know the requirement to construct a new cost effective robot with more functionality.

Keywords: Fuzzy logic, Mobile robots, OpenCV, Subsumption, Under vehicle inspection.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1337817

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2752

References:


[1] E. E. Ruiz and K. L. Head, “Use of an automatic under-vehicle inspection system as a tool to streamline vehicle screening at ports of entry and security checkpoints,” 2012.
[2] J. Dai, Weijun, GE, “Research on Vision-based Intelligent Vehicle Safety Inspection and Visual Surveillance,” in Eighth International Conference on Computational Intelligence and Security, 2012.
[3] “‘Bomb detection’ Firm director arrested for Fraud over Claim Devices Sent to Iraq were Useless,” 2010. (Online). Available: www.dailymail.co.uk/news/article-1245377/bomb-detection-firmdirection- arrested-fraud-claims-devices-sent-Iraq-useless.html. (Accessed: 24-Oct-2014).
[4] P. Dickson, J. Li, Z. Zhu, A. R. Hanson, E. M. Riseman, H. Sabrin, H. Schultz, G. Whitten, and S. Spring, “Mosaic Generation for Under Vehicle Inspection,” Proc. sixth IEEE Work. Appl. Comput. Vis., pp. 3– 8, 2002.
[5] S. Wanayuth, T. Yamada, A. Ohya, and T. Tsubouchi, “Under - Vehicle Inspection Utilizing a Mobile Robot with a LRF Sensor,” 2013, pp. 257– 262.
[6] X. Li and B. Choi, “Design of Obstacle Avoidance System for Mobile Robot using Fuzzy Logic Systems,” Int. J. Smart Home, vol. 7, no. 3, pp. 321–328, 2013.
[7] H. Eskandar, P. Salehi, and M. H. Sabour, “Fuzzy Logic Tracking Control for a Three Wheel Circular Robot in Unknown Environment 1,” World Appl. Sci. J., vol. 11, no. 33, pp. 321–326, 2010.
[8] R. M. Aguilar, V. Muñoz, and Y. Callero, “Control Application Using Fuzzy Logic: Design of a Fuzzy Temperature Controller,” Croatia, 2009.
[9] A. Saffiotti, “The Uses of Fuzzy Logic in Autonomous Robot Navigation: 1 Introduction,” vol. 1, no. 4. Center for Applied Autonomous Sensor Systems Department of Technology, Sweden.