대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

인공 면역망과 퍼지 시스템을 이용한 자율이동로봇 주행

Autonomous Mobile Robot Navigation using Artificial Immune Networks and Fuzzy Systems

  • 김양현 ((주)IT 커뮤니티) ;
  • 이동제 (부산대 전기공학과) ;
  • 이민중 ((주)IT 커뮤니티) ;
  • 최영규 (부산대 컴퓨터 및 정보통신연구소 전자전기정보 컴퓨터공학부)
  • 발행 : 2002.09.01
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초록

The navigation algorithms enable autonomous mobile robots to reach given target points without collision against obstacles. To achieve safe navigations in unknown environments, this paper presents an effective navigation algorithm for the autonomous mobile robots with ultrasonic sensors. 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 fuzzy-based decision maker combines the steering angles from the target-reaching behavior and the obstacle-avoidance behavior in order to steer the autonomous mobile robot appropriately. Simulational and experimental results show that the proposed navigation algorithm is very effective in unknown environments.

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참고문헌

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