Title :
Fuzzy logic based collision avoidance for a mobile robot
Author :
Martinez, Angelo ; Tunstel, Eddie ; Jamshidi, Mo
Author_Institution :
Dept. of Electr. & Comput. Eng., New Mexico Univ., Albuquerque, NM, USA
Abstract :
Navigation and collision avoidance are major areas of research in mobile robotics that involve varying degrees of uncertainty. In general, the problem consists of achieving sensor based motion control of a mobile robot among obstacles in structured and/or unstructured environments with collision-free motion as the proirity. A fuzzy logic based intelligent control strategy has been developed here to computationally implement the approximate reasoning necessary for handling the uncertainty inherent in the collision avoidance problem
Keywords :
computerised navigation; fuzzy logic; inference mechanisms; intelligent control; mobile robots; path planning; uncertainty handling; approximate reasoning; collision-free motion; fuzzy logic based collision avoidance; fuzzy logic based intelligent control; mobile robot; navigation; sensor based motion control; structured environments; uncertainty; unstructured environments; Circuits; Collision avoidance; DC motors; Fuzzy logic; Intelligent robots; Intelligent sensors; Mobile robots; Navigation; Robot sensing systems; Uncertainty;
Conference_Titel :
Industrial Fuzzy Control and Intelligent Systems, 1993., IFIS '93., Third International Conference on
Conference_Location :
Houston, TX
Print_ISBN :
0-7803-1485-9
DOI :
10.1109/IFIS.1993.324212
