A fuzzy multi-behaviour reactive obstacle avoidance navigation for a climbing mobile robot

Author

Al-Jumaily, A.A.S. ; Amin, Shamsudin H M ; Khalil, Mohamed

Author_Institution

Fac. of Electr. Eng., Univ. of Technol., Malaysia

fYear

1997

Firstpage

147

Lastpage

152

Abstract

The navigational planning is a central issue in development of real-time autonomous mobile robots. Reactive methods solve the real-time reactive navigation problems, but still there are some challenging problems. Fuzzy behaviours present a successful method to solve the real-time reactive navigation problems in unknown environment. Fuzzy behaviours for free movement, obstacle avoidance, and wall following will be presented here. We shall describe fuzzy controller behaviours, the input/output parameters, and the membership functions. Some simulation results will be present to show the navigation of the robot

Keywords

fuzzy control; legged locomotion; navigation; path planning; I/O parameters; climbing mobile robot; free movement; fuzzy controller behaviours; fuzzy multibehaviour reactive obstacle avoidance navigation; input/output parameters; real-time autonomous mobile robots; real-time reactive navigation problems; wall following; Art; Decision making; Fuzzy control; Intelligent robots; Intelligent systems; Mobile robots; Motion planning; Navigation; Robot sensing systems; Technology planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on

Conference_Location

Budapest

Print_ISBN

0-7803-3627-5

Type

conf

DOI

10.1109/INES.1997.632408

Filename

632408