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.


    Access

    Download


    Export, share and cite



    Title :

    Underneath Vehicle Inspection Using Fuzzy Logic, Subsumption and OpenCV Library


    Contributors:

    Publication date :

    2015-01-19


    Remarks:

    oai:zenodo.org:1337817
    International Journal of Information, Control and Computer Sciences 8.0(1)



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629




    New object detection features in the OpenCV library

    Druzhkov, P. N. / Erukhimov, V. L. / Zolotykh, N. Y. et al. | British Library Online Contents | 2011


    Subsumption Cognitive Architecture

    Blubaugh, David Allen / Harbour, Steven D. / Sears, Benjamin et al. | Springer Verlag | 2022


    Navigation of an autonomous ground vehicle using the subsumption architecture

    Johnson, Paul J. / Chapman, Kevin L. / Bay, John S. | SPIE | 1997


    Multi Camera Vehicle Tracking Using OpenCV & Deep Learning

    Patil, Aishwarya / Jadhav, Sushant / Tigadi, Arun et al. | IEEE | 2023


    OpenCV and Perception

    Blubaugh, David Allen / Harbour, Steven D. / Sears, Benjamin et al. | Springer Verlag | 2022