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http://dx.doi.org/10.5391/JKIIS.2003.13.2.180

Navigation of Autonomous Mobile Robot with Intelligent Controller  

Choi, Jeong-Won (영남대학교 전기공학과)
Kim, Yeon-Tae (안동정보대학 전기과)
Lee, Suk-Gyu (영남대학교 전기공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.13, no.2, 2003 , pp. 180-185 More about this Journal
Abstract
This paper proposes an intelligent navigation algorithm for multiple mobile robots under unknown dynamic environment. The proposed algorithm consists of three basic parts as follows. The first part based on the fuzzy rule generates the turning angle and moving distance of the robot for goal approach without obstacles. In the second part, using both fuzzy and neural network, the angle and distance of the robot to avoid collision with dynamic and static obstacles are obtained. The final adjustment of the weighting factor based on fuzzy rule for moving and avoiding distance of the robots is provided in the third stage. The experiments which demonstrate the performance of the proposed intelligent controller is described.
Keywords
Unknown dynamic environment; multiple mobile robots;
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