Title :
A reflexive navigation algorithm for an autonomous mobile robot
Author :
Vandorpe, J. ; Van Brussel, H.
Author_Institution :
Div. of Production Eng., Katholieke Univ., Leuven, Belgium
Abstract :
A new, reflexive type of navigation for the Leuven intelligent autonomous system (LIAS), implemented in a distributed transputer system, is presented. The mobile robot is meant to travel as fast and as safe as possible in a dynamic, vague or even completely unknown and unstructured factory environment. The navigation system consists of a reactive planning module combined with a low level fuzzy logic avoidance behaviour which enables the robot to move to a goal by only specifying the goal coordinates. A fusion algorithm combines perception information of three different sensors for accurate modelling of the world. The presented navigation method was tested with the real robot and it proved to be useful in real world applications
Keywords :
fuzzy control; fuzzy logic; intelligent control; mobile robots; navigation; path planning; sensor fusion; Leuven intelligent autonomous system; autonomous mobile robot; data fusion; distributed transputer system; fuzzy logic avoidance behaviour; goal coordinates; mobile robot; perception information; reactive planning module; reflexive navigation algorithm; Fuzzy logic; Intelligent robots; Intelligent systems; Mobile robots; Navigation; Production facilities; Robot kinematics; Robot sensing systems; Sensor fusion; Testing;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1994. IEEE International Conference on MFI '94.
Conference_Location :
Las Vegas, NV
Print_ISBN :
0-7803-2072-7
DOI :
10.1109/MFI.1994.398445
