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http://dx.doi.org/10.21289/KSIC.2018.21.3.125

Obstacle Avoidance and Planning using Optimization of Cost Fuction based Distributed Control Command  

Bae, Dongseog (Dept. of Smart Electronics Control)
Jin, Taeseok (Dept. of Mechatronics)
Publication Information
Journal of the Korean Society of Industry Convergence / v.21, no.3, 2018 , pp. 125-131 More about this Journal
Abstract
In this paper, we propose a homogeneous multisensor-based navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments with moving obstacles using multi-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 by fuzzy inference is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor using fuzzy inference is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we performed simulations in PC as well as real experiments with mobile robot, AmigoBot. 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; Ultasonic sensor; Distributed control;
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Times Cited By KSCI : 2  (Citation Analysis)
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