Title :
Behavior-Based Autonomous Robot Navigation on Challenging Terrain: A Dual Fuzzy Logic Approach
Author :
Park, Kiwon ; Zhang, Nian
Author_Institution :
Dept. of Electr. & Comput. Eng., South Dakota Sch. of Mines & Technol., Rapid City, SD
Abstract :
A robot navigation system based on combined two fuzzy logic controllers is developed for a mobile robot. Eight ultrasonic sensors, a GPS sensor and two fuzzy logic controllers with separate 81 rules were used to realize this navigation system. The data from sensors are used to the input of each fuzzy controller. The outputs of fuzzy controllers control the speed of two servo motors. The robot with this navigation system chooses one of two controllers based on the information from the sensors while navigating for the targets. Fuzzy controller has functions that are target steering, avoiding obstacles and following the edge of obstacles. Fuzzy controlled has a function that makes the robot keeps following the edge of obstacles. Simulation results show that a mobile robot´s escaping ability from U-shaped obstacle was improved and steering ability for a target by avoiding obstacles was also improved with this combined fuzzy logic controller
Keywords :
Global Positioning System; collision avoidance; fuzzy control; fuzzy logic; mobile robots; GPS sensor; U-shaped obstacle; behavior-based autonomous robot navigation; combined two fuzzy logic controllers; dual fuzzy logic approach; mobile robot; obstacle avoidance; servomotors; ultrasonic sensors; Control systems; Fuzzy control; Fuzzy logic; Global Positioning System; Mobile robots; Navigation; Robot sensing systems; Sensor systems; Servomechanisms; Servomotors; Robot navigation; U-shaped obstacle; fuzzy logic controller;
Conference_Titel :
Foundations of Computational Intelligence, 2007. FOCI 2007. IEEE Symposium on
Conference_Location :
Honolulu, HI
Print_ISBN :
1-4244-0703-6
DOI :
10.1109/FOCI.2007.372175
