Title :
Motion planning using fuzzy logic control with minimum sensors
Author :
Yim, Ho ; Butler, Alley C.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Missouri Univ., Columbia, MO, USA
Abstract :
A new exploratory motion planning technique for a mobile robot is described and demonstrated using a fuzzy logic control (FLC) approach with two distance sensors. The fuzzy logic controller determines steering direction for a four wheel mobile robot based on distance from each sensor to the nearest obstacle ahead of the robot. Changes in steering direction are developed using Mamdani´s Minimum Operation Rule and Center of Area (COA) defuzzification. The overall motion planning strategy is described and results from testing are discussed. It is believed that the FLC approach may offer advantages over other exploratory methods
Keywords :
distance measurement; fuzzy control; fuzzy logic; mobile robots; motion control; path planning; Center of Area defuzzification; Minimum Operation Rule; distance sensors; exploratory motion planning technique; four wheel mobile robot; fuzzy logic control; minimum sensors; mobile robot; steering direction; Acoustic sensors; Fuzzy logic; Mobile robots; Motion control; Motion planning; Navigation; Orbital robotics; Robot sensing systems; Shape control; Tactile sensors;
Conference_Titel :
Intelligent Control, 1995., Proceedings of the 1995 IEEE International Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-2722-5
DOI :
10.1109/ISIC.1995.525114
