Browse > Article

An Autonomous Mobile Robot Control Method based on Fuzzy-Artificial Immune Networks and RBFN  

오홍민 (현대기아자동차㈜연구소)
박진현 (진주산업대 메카트로닉스공학과)
최영규 (부산대 전자전기정보컴퓨터공학부)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.52, no.12, 2003 , pp. 679-688 More about this Journal
Abstract
In order to navigate the mobile robots safely in unknown environments, many researches have been studied to devise navigational algorithms for the mobile robots. In this paper, we propose a navigational algorithm that consists of an obstacle-avoidance behavior module, a goal-approach behavior module and a radial basis function network(RBFN) supervisor. In the obstacle-avoidance behavior module and goal-approach behavior module, the fuzzy-artificial immune networks are used to select a proper steering angle which makes the autonomous mobile robot(AMR) avoid obstacles and approach the given goal. The RBFN supervisor is employed to combine the obstacle-avoidance behavior and goal-approach behavior for reliable and smooth motion. The outputs of the RBFN are proper combinational weights for the behavior modules and velocity to steer the AMR appropriately. Some simulations and experiments have been conducted to confirm the validity of the proposed navigational algorithm.
Keywords
Autonomous Mobile Robot; Artificial Immune Network; RBFN;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 /
[ J.S.R.Jang;C.T.Sun;E.Mizutani ] / Neuro-Fuzzy and Soft Computing
2 Fuzzy selection and blending of behaviors for situated autonomous agent /
[ F.Michaud;G.Lachiver;Chon Tam Le Dinh ] / Proc. of the IEEE International Conference on Fuzzy Systems
3 A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation /
[ J.Yen;N.Pfluger ] / IEEE Transactions on Systems, Man and Cybernetics   DOI   ScienceOn
4 J. Yen and N. Pfluger, 'A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation,' IEEE Transactions on Systems, Man and Cybernetics, vol. 25, pp, 971-978, 1995   과학기술학회마을   DOI   ScienceOn
5 D. Dasqupta, Artificial Immune Systems and Their Applications, Springer- Verlag Berlin Heidelberg, Germany, 1999
6 김양현, 이동제, 이민중, 최영규, '인공면역망과 퍼지 시스템을 이용한 자율이동로봇 주행,' 대한전기학회 논문지, 제 51D권 8호, pp. 402-412, 2002   DOI
7 W. L. Xu and S. K. Tso, 'Sensor-based fuzzy reactive navigation of a mobile robot through local target switching,' IEEE Transactions on Systems, Man, and Cybernetics, vol. 29, no. 3, pp.451-459, 1999   DOI   ScienceOn
8 J. Borenstein and Y. Koren, 'Potential field methods and their inherent limitations for mobile robot navigation,' Proc. of the IEEE International Conference on Robotics and Automation, pp. 1398-1404, 1991   DOI
9 J. S. R. Jang, C. T. Sun and E. Mizutani, Neuro-Fuzzy and Soft Computing, Prentice-Hall, 1997
10 O. Khatib, 'Real-time obstacle avoidance for manipulators and mobile robots,' Proc. of the IEEE International Conference on Robotics and Automation, pp. 500-505, 1985   DOI
11 J. Borenstein and Y. Koren, 'The vector field histogram-fast obstacle avoidance for mobile robots,' IEEE Transactions on Robotics and Automation, vol. 7, pp. 278-288, 1991   DOI   ScienceOn
12 H. R. Beam and H. S. Cho, 'A sensor-based obstacle avoidance controller for a mobile robot using fuzzy logic and neural network,' Proc. of the IEEE International Conference on Intelligent Robots and Systems, vol. 2, pp. 1470-1475, 1992   DOI
13 W. Li, 'Fuzzy logic based robot navigation in uncertain environments by multi sensor integration,' Proc. of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp. 259-264, 1994   DOI
14 A. Ishiguro, R. Watanabe, and Y. Uchikawa, 'Immunoid: an architecture for behavior arbitration based on the immune networks,' Proc. of the IEEE International Conference on Intelligent Robots and Systems, vol. 3, pp. 1730-1738, 1996   DOI
15 A. Ishiguro, R. Watanabe, and Y. Uchikawa, 'Emergent construction of behavior arbitration mechanism based on the immune system,' Proc. of the IEEE International Conference on Evolutionary Computation, pp. 481-486, 1998   DOI
16 F. Michaud, G. Lachiver, and Chon Tam Le Dinh, 'Fuzzy selection and blending of behaviors for situated autonomous agent,' Proc. of the IEEE International Conference on Fuzzy Systems, vol. 1, pp. 258-264, 1996   DOI
17 K. Pal Prabir and Kar Asim, 'Mobile robot navigation using a neural net,' Proc. of the IEEE International Conference on Robotics and Automation, vol. 2, pp. 1503 -1508, 1995   DOI