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

fYear

1993

fDate

1-3 Dec 1993

Firstpage

66

Lastpage

69

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IFIS.1993.324212

Filename

324212