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Prediction and Avoidance of the Moving Obstacles Using the Kalman Filters and Fuzzy Algorithm  

Joung Won-Sang (부산대학 전기공학과)
Choi Young-Kiu (부산대학 전기공학과)
Lee Sang-Hyuk (부산대학 전기공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.54, no.5, 2005 , pp. 307-314 More about this Journal
Abstract
In this paper, we propose a predictive system for the avoidance of the moving obstacle. In the dynamic environment, robots should travel to the target point without collision with the moving obstacle. For this, we need the prediction of the position and velocity of the moving obstacle. So, we use the Kalman filer algorithm for the prediction. And for the application of the Kalman filter algorithm about the real time travel, we obtain the position of the obstacle which has the future time using Fuzzy system. Through the computer simulation studies, we show the effectiveness of the proposed navigational algorithm for autonomous mobile robots.
Keywords
Mobile Robot; Prediction; Moving Obstacle; Kalman Filter;
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