A new approach to design fuzzy controllers for mobile robots navigation

Author

Aycard, Olivier ; Charpillet, François ; Haton, Jean Paul

Author_Institution

CRIN-INRIA Lorraine, Vandoeuvre-les-Nancy, France

fYear

1997

fDate

10-11 Jul 1997

Firstpage

68

Lastpage

73

Abstract

This article presents a new method to design, in two levels, fuzzy controller for reactive navigation of a mobile robot in a structured unknown environment. At the first level, adjacent sensors are grouped in areas and are used to define focal behaviors. These local behaviors are then gathered at the second level in order to define a global behavior. Two experiments with different local behaviors and different mechanism of integration are presented on our Nomad200 mobile robot

Keywords

computerised navigation; control system synthesis; fuzzy control; mobile robots; navigation; Nomad200 mobile robot; adjacent sensors; fuzzy controller design; global behavior; local behaviors; mobile robots navigation; reactive navigation; structured unknown environment; Control systems; Design methodology; Fuzzy control; Fuzzy logic; Fuzzy systems; Infrared sensors; Mobile robots; Navigation; Robot control; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 1997. CIRA'97., Proceedings., 1997 IEEE International Symposium on

Conference_Location

Monterey, CA

Print_ISBN

0-8186-8138-1

Type

conf

DOI

10.1109/CIRA.1997.613840

Filename

613840