Obstacle Avoidance of a Mobile Robot with Intelligent Controller of Hierarchical structure

계층구조의 지능제어기를 가진 이동로봇의 장애물 회피

This paper proposes a new fuzzy-neural algorithm for navigation of a mobile robot with stationary and moving obstacles environment. The proposed algorithm has two-layered hierarchical structure such as a lower layer for collision avoidance and goal approach. and upper layer for adaptive combination of these two algorithms. Some computer simulation results for a mobile robot equipped with ultrasonic range sensors show that the suggested navigation algorithm is very effective in stationary and moving obstacles environment.