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

fYear

1994

fDate

2-5 Oct 1994

Firstpage

251

Lastpage

258

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/MFI.1994.398445

Filename

398445