Coordination of behaviours for mobile robot floor cleaning

Author

Lang, Sherman Y T ; Chee, Bing-Yung

Author_Institution

Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Kowloon, Hong Kong

Volume

2

fYear

1998

fDate

13-17 Oct 1998

Firstpage

1236

Abstract

A fuzzy mobile robot area filling system designed to traverse the entire unknown environment is described in this paper. Such a system has a variety of applications such as vacuuming, lawn-mowing, polishing, crop harvesting, etc. It is also suitable for performing waste cleanup in hazardous environments where the area is inaccessible to humans. The robot is able to complete the cleaning task in unknown environments. Low level primitive fuzzy behaviours are integrated and coordinated with a state machine controller to achieve point to point navigation, obstacle avoidance and area filling

Keywords

fuzzy set theory; mobile robots; path planning; surface cleaning; area filling; behaviour coordination; crop harvesting; fuzzy mobile robot area filling system; hazardous environments; lawn-mowing; low-level primitive fuzzy behaviours; mobile robot floor cleaning; obstacle avoidance; point-to-point navigation; polishing; state machine controller; unknown environment; vacuuming; waste cleanup; Cleaning; Crops; Filling; Fuzzy control; Fuzzy systems; Humans; Mobile robots; Navigation; Robot kinematics; Vacuum systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.727468

Filename

727468