Table 1.
Comparison of the characteristics of the three vision systems.
Fig 1.
Structure diagram of PID controller.
Fig 2.
System block diagram of fuzzy control.
Fig 3.
Fuzzy PID controller.
Fig 4.
System architecture diagram.
Fig 5.
Robot equivalent model.
Table 2.
Description of the algorithm.
Fig 6.
Neural network structure of trajectory tracking control model.
Fig 7.
Schematic diagram of the experimental environment.
Table 3.
Dataset composition and segmentation performance.
Table 4.
Performance comparison of feature matching methods in unstructured environments.
Fig 8.
Error statistics of the robot based on linear navigation.
(a) Linear navigation error based on target tracking (b) Linear navigation error based on a given line segment.
Fig 9.
Error statistics of the robot based on curve navigation.
(a) B-sample curve-based navigation error (b) Irregular curve-based navigation error.
Fig 10.
Experimental results at 60 mm/s speed of robot.
(a) Navigation error statistics of linear type (b) Navigation error statistics of curved type.
Fig 11.
Experimental results at 80 mm/s speed of robot.
(a) Navigation error statistics of linear type (b) Navigation error statistics of curved type.
Table 5.
Performance comparison in dynamic environment with statistical significance.
Table 6.
Performance comparison in rocky terrain.
Table 7.
Performance comparison in industrial zones with dynamic obstacles.
Table 8.
Performance comparison in vegetation-covered paths.