The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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GA-Fuzzy based Navigation of Multiple Mobile Robots in Unknown Dynamic Environments

미지 동적 환경에서 다중 이동로봇의 GA-Fuzzy 기반 자율항법

  • Zhao, Ran (Dept. of Electrical Engineering, Korea University of Technology and Education) ;
  • Lee, Hong-Kyu (Dept. of Electrical Engineering, Korea University of Technology and Education)
  • Received : 2016.12.01
  • Accepted : 2016.12.16
  • Published : 2017.01.01
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Abstract

The work present in this paper deals with a navigation problem for multiple mobile robots in unknown indoor environments. The environments are completely unknown to the robots; thus, proximity sensors installed on the robots' bodies must be used to detect information about the surroundings. The environments simulated in this work are dynamic ones which contain not only static but also moving obstacles. In order to guide the robot to move along a collision-free path and reach the goal, this paper presented a navigation method based on fuzzy approach. Then genetic algorithms were applied to optimize the membership functions and rules of the fuzzy controller. The simulation results verified that the proposed method effectively addresses the mobile robot navigation problem.

Keywords

References

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