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General Information
    • ISSN: 2010-3719 (Online)
    • Abbreviated Title: Int. J. Inf. Electron. Eng.
    • Frequency: Quarterly
    • DOI: 10.18178/IJIEE
    • Editor-in-Chief: Prof. Chandratilak De Silva Liyanage
    • Executive Editor: Jennifer Zeng
    • Abstracting/ Indexing : Google Scholar, Electronic Journals Library, Crossref and ProQuest, Ei (INSPEC, IET), EBSCO.
    • E-mail ijiee@ejournal.net

University of Brunei Darussalam, Brunei Darussalam   
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IJIEE 2016 Vol.6(5): 308-312 ISSN: 2010-3719
DOI: 10.18178/IJIEE.2016.6.5.644

A Human-Like Robot Intelligent Navigation in Narrow Indoor Environments

Bin Hua, Endri Rama, Genci Capi, and Mitsuru Jindai
Abstract—Fast and automatic detection of the free pathway in a narrow indoor environment is an important task in assistive and autonomous wheelchair robot navigation. Many studies have shown different methods to control the wheelchairs, from joystick to human brain signals. These techniques require a lot of physical or mental work to be done by the disabled people. This paper presents a human-like intelligent robot navigation technique based on neural networks. In the proposed method, the robot has to rely on the Laser Range Finder (LRF) data and camera data to navigate in the narrow environment and to avoid the obstacles. At first, the wheelchair robot is controlled by using a joystick, where the camera and LRF data are collected. The gathered data are used to train the neural controller. The proposed intelligent navigation method is evaluated in real indoor environments with different settings. Experimental results are presented which demonstrate an efficiency and robustness performance of neural network, resulting in a human-like robot navigation.

Index Terms—Wheel-chair robot, navigation, indoor environment, neural networks, laser range finder, camera.

B. Hua, E. Rama, and M. Jindai are with University of Toyama, Gofuku, 3910, 930-0887, Toyama, Japan (e-mail: kahin0704@gmail.com, endrirama@engineer.com.com).
G. Capi is with the Department of Mechanical Engineering, Hosei University, 3-7-2 Kajino-cho, Koganei, 184-8584, Tokyo, Japan (e-mail: capi@hosei.ac.jp).


Cite:Bin Hua, Endri Rama, Genci Capi, and Mitsuru Jindai, "A Human-Like Robot Intelligent Navigation in Narrow Indoor Environments," International Journal of Information and Electronics Engineering vol. 6, no. 5, pp. 308-312, 2016.

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