제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제16권3호
  • /
  • Pages.233-238
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  • 2010
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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충돌회피환경에서의 퍼지 규칙 기반 멀티 모바일 로봇 시스템

Multi-Mobile Robot System with Fuzzy Rule based Structure in Collision avoidance

  • 김동원 (인하공업전문대학 디지털전자과) ;
  • 이종호 (인하공업전문대학 디지털전자과)
  • 발행 : 2010.03.01
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초록

This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.

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참고문헌

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