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http://dx.doi.org/10.5391/IJFIS.2012.12.3.245

Obstacle Avoidance of Mobile Robot Based on Behavior Hierarchy by Fuzzy Logic  

Jin, Tae-Seok (Dept. of Mechatronics Engineering, Dongseo University)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.12, no.3, 2012 , pp. 245-249 More about this Journal
Abstract
In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an ultrasonic sensor. Instead of using "sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion" method is used to govern the robot motions. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process.
Keywords
mobile robot; command fusion; obstacle avoidance; fuzzy; cost function;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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