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http://dx.doi.org/10.5370/KIEE.2017.66.1.114

GA-Fuzzy based Navigation of Multiple Mobile Robots in Unknown Dynamic Environments  

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)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.66, no.1, 2017 , pp. 114-120 More about this Journal
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
Robot navigation; Fuzzy; Dynamic environments; Genetic algorithm; Multiple robots;
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