A Fuzzy Logic Based Robot Navigation System
نویسندگان
چکیده
One of the key issues in mobile robot navigation is coping with uncertainty in a dynamic environment. One possible solutions lies in behaviors, but there is a problem with standard behavior arbitration techniques. To combat this problem, David Payton introduced a command arbitration net that minimizes the loss of information between behaviors. We have extended his approach using fuzzy logic. Some benefits of using fuzzy logic include simplicity, extensibility and understandability, especially in the area of sensor fusion.
منابع مشابه
Variable Impedance Control for Rehabilitation Robot using Interval Type-2 Fuzzy Logic
In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...
متن کاملA Q-learning Based Continuous Tuning of Fuzzy Wall Tracking
A simple easy to implement algorithm is proposed to address wall tracking task of an autonomous robot. The robot should navigate in unknown environments, find the nearest wall, and track it solely based on locally sensed data. The proposed method benefits from coupling fuzzy logic and Q-learning to meet requirements of autonomous navigations. Fuzzy if-then rules provide a reliable decision maki...
متن کاملBehaviour Based Mobile Robot Navigation Technique Using Ai System: Experimental Investigation on Active Media Pioneer Robot
A key issue in the research of an autonomous robot is the design and development of the navigation technique that enables the robot to navigate in a real world environment. In this research, the issues investigated and methodologies established include (a) Designing of the individual behavior and behavior rule selection using Alpha level fuzzy logic system (b) Designing of the controller, which...
متن کاملDynamical formation control of wheeled mobile robots based on fuzzy logic
In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...
متن کاملA Fuzzy Logic Based Navigation System for a Mobile Robot
One of the problems associated with traditional behaviour based navigation systems for mobile robots is that of command arbitration. Having multiple behaviours which are all running concurrently leads to situations where several command outputs may be produced simultaneously. The decision about which output should be used to drive the robot is left to a separate command arbitrator. Using this m...
متن کاملProbabilistic Fuzzy Control of Mobile Robots for Range Sensor Based Reactive Navigation
In this paper, a probabilistic fuzzy approach is proposed for mobile-robot reactive navigation using range sensors. The primary motivation is an integrated reactive navigation control system with good real-time performance under uncertainty. To accomplish this aim, a probabilistic fuzzy logic system (PFLS) is introduced to range measurement and reactive navigation in local environments. PFLS is...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2001