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A Fuzzy Controller for Obstacle Avoidance Robots and Lower Complexity Lookup-Table Sharing Method Applicable to Real-time Control Systems  

Kim, Jin-Wook (Pragmatic Applied Robot Institute, Daegu Gyeoungbuk Institute of Science & Technology)
Kim, Yoon-Gu (Pragmatic Applied Robot Institute, Daegu Gyeoungbuk Institute of Science & Technology)
An, Jin-Ung (Pragmatic Applied Robot Institute, Daegu Gyeoungbuk Institute of Science & Technology)
Publication Information
Journal of the Korean Society for Precision Engineering / v.27, no.2, 2010 , pp. 60-69 More about this Journal
Abstract
Lookup-Table (LUT) based fuzzy controller for obstacle avoidance enhances operations faster in multiple obstacles environment. An LUT based fuzzy controller with Positive/Negative (P/N) fuzzy rule base consisting of 18 rules was introduced in our paper$^1$ and this paper shows a 50-rule P/N fuzzy controller for enhancing performance in obstacle avoidance. As a rule, the more rules are necessary, the more buffers are required. This paper suggests LUT sharing method in order to reduce LUT buffer size without significant degradation of performance. The LUT sharing method makes buffer size independent of the whole fuzzy system's complexity. Simulation using MSRDS(MicroSoft Robotics Developer Studio) evaluates the proposed method, and in order to investigate its performance, experiments are carried out to Pioneer P3-DX in the LabVIEW environment. The simulation and experiments show little difference between the fully valued LUT-based method and the LUT sharing method in operation times. On the other hand, LUT sharing method reduced its buffer size by about 95% of full valued LUT-based design.
Keywords
Autonomous Navigation; Obstacle Avoidance; Fuzzy Controller; Mobile Robot; Lookup Table;
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