Title :
Application of fuzzy decision making in mobile robot navigation in dynamic environments
Author :
Babalou, A. ; Seifipour, N.
Author_Institution :
Sch. of Sci. & Eng., Sharif Univ. of Technol., Kish Island, Iran
Abstract :
This paper presents a modified sensor-based online method for mobile robot navigation generating paths in dynamic environments. The intelligent part of the algorithm is a Fuzzy Decision Maker (FDM) which enables the robot to do both the guidance-based tracking algorithm and the obstacle avoidance simultaneously. The output of FDM is a weighted combination of velocity vectors generated by velocity obstacle algorithm and guidance based tracking algorithm. The results prove that the robot can track a moving target while maneuvering safely in dynamic environment and avoids stationary and moving obstacles.
Keywords :
collision avoidance; decision making; fuzzy set theory; mobile robots; navigation; dynamic environment; fuzzy decision making; guidance based tracking; guidance-based tracking; mobile robot navigation; navigation generating path; obstacle avoidance; sensor based online method; velocity obstacle algorithm; velocity vector; weighted combination; Decision making; Intelligent robots; Mobile robots; Motion planning; Navigation; Path planning; Robot kinematics; Robot sensing systems; Target tracking; Uncertainty; Dynamic environment; Fuzzy Decision Making; Guidance-based tracking; Velocity Obstacle;
Conference_Titel :
Fuzzy Systems, 2009. FUZZ-IEEE 2009. IEEE International Conference on
Conference_Location :
Jeju Island
Print_ISBN :
978-1-4244-3596-8
Electronic_ISBN :
1098-7584
DOI :
10.1109/FUZZY.2009.5277189
