DocumentCode :
3057484
Title :
Design and implemention of a simple fuzzy algorithm for obstacle avoidance navigation of a mobile robot in dynamic environment
Author :
Hassanzadeh, Iraj ; Ghadiri, Hamid ; Dalayimilan, Reza
Author_Institution :
Adv. Robot. Res. Lab., Univ. of Tabriz, Tabriz
fYear :
2008
fDate :
27-29 May 2008
Firstpage :
1
Lastpage :
6
Abstract :
In this paper we propose a simple fuzzy controller for obstacle avoidance of mobile robot navigation. The most important aspect of this method is its simplicity and efficiency. The other important features of the proposed method are; smooth navigation due to the selected type of membership functions, and capability for pursuing dynamic target. The proposed method along with simple proposed fuzzy approach is compared to the potential field method for robot navigation. The proposed fuzzy acts better than potential field method. Simulation and implementation of the mentioned approaches are done for the Khepera II mobile robot. Results show the effectiveness and high performance of this new algorithm, hi addition, by using this proposed fuzzy method the robot reaches its target in a shorter time compared to the potential field method.
Keywords :
collision avoidance; fuzzy control; mobile robots; Khepera II mobile robot; dynamic environment; fuzzy algorithm; fuzzy controller; obstacle avoidance navigation; potential field method; robot navigation; Algorithm design and analysis; Design engineering; Fuzzy control; Mobile robots; Motion planning; Navigation; Path planning; Robot control; Robot motion; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Its Applications, 2008. ISMA 2008. 5th International Symposium on
Conference_Location :
Amman
Print_ISBN :
978-1-4244-2033-9
Electronic_ISBN :
978-1-4244-2034-6
Type :
conf
DOI :
10.1109/ISMA.2008.4648863
Filename :
4648863
Link To Document :
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