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Path Planning of Autonomous Mobile Robot Based on Fuzzy Logic Control

  • 박종훈 (인하대학교 전기공학과) ;
  • 이재광 (인하대학교 전기공학과) ;
  • 허욱열 (인하대학교 전기공학과)
  • Park, Jong-Hun (Dept. of Electrical Engineering, Inha University) ;
  • Lee, Jae-Kwang (Dept. of Electrical Engineering, Inha University) ;
  • Huh, Uk-Youl (Dept. of Electrical Engineering, Inha University)
  • 발행 : 2003.07.21

초록

In this paper, two Fuzzy Logics for path planning of an autonomous mobile robot are proposed. If a target point is given, such problems regarding the velocity and object recognition are closely related with path to which the mobile robot navigates. Therefore, to ensure safety navigation of the mobile robot for two fuzzy logic parts, path planning considering the surrounding environment was performed in this paper. First, feature points for local and global path are determined by utilizing Cell Decomposition off-line computation. Second, the on-line robot using two Fuzzy Logics navigates around path when it tracks the feature points. We demonstrated optimized path planning only for local path using object recognition fuzzy logic corresponds to domestic situation. Furthermore, when navigating, the robot uses fuzzy logic for velocity and target angle. The proposed algorithms for path planning has been implemented and tested with pioneer-dxe mobile robot.

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