Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Obstacle Avoidance and Path Planning for a Mobile Robot Using Vision System and Fuzzy Rule

비전과 퍼지규칙을 이용한 이동로봇의 경로계획과 장애물회피

  • Bae, Bong-Kyu (Dept. of Electronic Eng. Pukyong National University) ;
  • Lee, Won-Chang (Dept. of Electronic Eng. Pukyong National University) ;
  • Kang, Geun-Taek (Dept. of Electronic Eng. Pukyong National University)
  • Published : 2000.07.17
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Abstract

In this paper we propose new algorithms of path planning and obstacle avoidance for an autonomous mobile robot with vision system. Distance variation is included in path planning to approach the target point and avoid obstacles well. The fuzzy rules are also applied to both trajectory planning and obstacle avoidance to improve the autonomy of mobile robot. It is shown by computer simulation that the proposed algorithm is working well.

Keywords