Journal of the Korea Academia-Industrial cooperation Society (한국산학기술학회논문지)

The Korea Academia-Industrial cooperation Society (한국산학기술학회)
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Autonomous Navigation of a Mobile Robot in Unknown Environment Based on Fuzzy Inference

미지 환경에서 이동로봇의 퍼지추론 기반 자율항법

  • Zhao, Ran (Department of Electrical Engineering, Korea University of Technology and Education) ;
  • Lee, Dong-Hwan (Department of Electrical Engineering, Korea University of Technology and Education) ;
  • Lee, Hong-Kyu (Department of Electrical Engineering, Korea University of Technology and Education)
  • 조연 (한국기술교육대학교 전기공학과) ;
  • 이동환 (한국기술교육대학교 전기공학과) ;
  • 이홍규 (한국기술교육대학교 전기공학과)
  • Received : 2015.11.24
  • Accepted : 2016.03.03
  • Published : 2016.03.31
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Abstract

This paper presents a navigation problem for an autonomous mobile robot in an unknown environment. The environment contains various types of obstacles and is completely unknown to the robot. Therefore, all of the surrounding information must be detected by the robot's proximity sensors. A navigation method was developed based on a fuzzy inference system to guide the robot to move along a collision-free path and reach the goal position quickly. The obstacles are assumed to be static, and both regular and irregular types of obstacles were investigated. A wall following method is also proposed for a special environment that contains a labyrinth or sharp U-valley obstacles. Simulation results demonstrate that the proposed method has great potential for this navigation problem.

본 논문은 다양한 형태의 방해물에 대한 정보를 알 수 없는 미지의 환경에서 자율이동 로봇의 항법에 관한 제안을 하고 있다. 로봇의 이동에 따른 주변의 정보는 로봇에 부착되어 있는 근접센서를 통하여 감지하고, 충돌을 피하고 목적지에 가능한 한 빨리 도착할 수 있는 경로로 유도하기 위하여 퍼지추론에 기반 한 항해방법을 개발하였다. 여기에서 방해물들은 정지되어 있고 정형화된 경우와 비정형화된 형태들이 고려되었으며 미로와 U형태의 계곡으로 구성된 예리한 방해물들을 특별히 포함하고 있다. 벽을 따라 이동하는 방법 또한 제안하고 있으며 모의실험을 통하여 제안하고 있는 방법이 이동로봇의 항법문제를 해결하는 효과적인 방법이 된다는 것을 증명하였다.

Keywords

References

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