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http://dx.doi.org/10.5302/J.ICROS.2010.16.3.233

Multi-Mobile Robot System with Fuzzy Rule based Structure in Collision avoidance  

Kim, Dong-W. (인하공업전문대학 디지털전자과)
Yi, Chong-Ho (인하공업전문대학 디지털전자과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.16, no.3, 2010 , pp. 233-238 More about this Journal
Abstract
This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.
Keywords
multi-mobile robot system; fuzzy rule based structure; collision avoidance; dynamic obstacle;
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