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

fYear

2009

Firstpage

877

Lastpage

881

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 2009. FUZZ-IEEE 2009. IEEE International Conference on

Conference_Location

Jeju Island

ISSN

1098-7584

Print_ISBN

978-1-4244-3596-8

Electronic_ISBN

1098-7584

Type

conf

DOI

10.1109/FUZZY.2009.5277189

Filename

5277189