International Journal of Fuzzy Logic and Intelligent Systems

  • 제12권3호
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  • Pages.245-249
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  • 2012
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  • 1598-2645(pISSN)
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  • 2093-744X(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
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Obstacle Avoidance of Mobile Robot Based on Behavior Hierarchy by Fuzzy Logic

  • Jin, Tae-Seok (Dept. of Mechatronics Engineering, Dongseo University)
  • 투고 : 2012.07.26
  • 심사 : 2012.09.15
  • 발행 : 2012.09.25
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초록

In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an ultrasonic sensor. Instead of using "sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion" method is used to govern the robot motions. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process.

키워드

참고문헌

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피인용 문헌

  1. Transparent Obstacle Detection Method based on Laser Range Finder vol.24, pp.2, 2014, https://doi.org/10.5391/JKIIS.2014.24.2.111
  2. Fuzzy Logic Based Navigation for Multiple Mobile Robots in Indoor Environments vol.15, pp.4, 2015, https://doi.org/10.5391/IJFIS.2015.15.4.305
  3. An Overview of Nature-Inspired, Conventional, and Hybrid Methods of Autonomous Vehicle Path Planning vol.2018, pp.2042-3195, 2018, https://doi.org/10.1155/2018/8269698