제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
- /
- Pages.134.6-134
- /
- 2001
A Navigation Algorithm for Autonomous Mobile Robots using Artificial Immune Networks and Fuzzy Systems
- Kim, Yang-Hyun (Pusan National Univ.) ;
- Lee, Dong-Je (Pusan National Univ.) ;
- Lee, Min-Jung (Pusan National Univ.) ;
- Choi, Young-Kiu (Pusan National Univ.)
- 발행 : 2001.10.01
초록
The purpose of navigation algorithm is to reach a given target point without collision with obstacles while an autonomous mobile robot is navigating. To achieve a safe navigation, this paper presents an effective navigation algorithm for the autonomous mobile robot equipped with ultrasonic sensors in unknown environments. The proposed navigation algorithm consists of an obstacle-avoidance behavior, a target-reaching behavior and a fuzzy-based decision maker. In the obstacle-avoidance behavior and the target-reaching behavior, artificial immune networks are used to select a proper steering angle, make the autonomous mobile robot avoid obstacles and approach a given target point. The decision maker using fuzzy inference systems weights the steering angles selected ...
키워드