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http://dx.doi.org/10.21289/KSIC.2018.21.2.95

Fuzzy Inference Based Collision Free Navigation of a Mobile Robot using Sensor Fusion  

Jin, Taeseok (Dept. of Mechatronics Dongeo University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.21, no.2, 2018 , pp. 95-101 More about this Journal
Abstract
This paper presents a collision free mobile robot navigation based on the fuzzy inference fusion model in unkonown environments using multi-ultrasonic sensor. Six ultrasonic sensors are used for the collision avoidance approach where CCD camera sensors is used for the trajectory following approach. The fuzzy system is composed of three inputs which are the six distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and three cost functions for the robot's movement, direction, obstacle avoidance, and rotation. For the evaluation of the proposed algorithm, we performed real experiments with mobile robot with ultrasonic sensors. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.
Keywords
Mobile Robot; Navigation; Collision avoidance; Fusion; Fuzzy logic;
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Times Cited By KSCI : 1  (Citation Analysis)
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