A fuzzy system for indoor mobile robot navigation

Author

Surmann, Hartmut ; Huser, Jörg ; Peters, Liliane

Author_Institution

German Nat. Res. Center for Comput. Sci., St. Augustin, Germany

Volume

5

fYear

1995

fDate

20-24 Mar 1995

Firstpage

71

Abstract

An autonomous mobile robot (AMR) has to cope with uncertain, incomplete or approximate information. Moreover it has to identify sudden perceptual situations to manoeuvre in real time. This paper describes a fuzzy rule based system (FRBS) approach controlling the movement of an autonomous mobile robot (MORIA). Difficult guiding and controlling properties of the robot are achieved by combining local actions and global strategies within the fuzzy controller. Different behaviors and perceptions are detected with the help of fuzzy rules and stored in fuzzy state variables (FSV). These state variables activate different fuzzy rule sets which in turn change the behavior of the fuzzy controller

Keywords

fuzzy control; knowledge based systems; mobile robots; path planning; approximate information; autonomous mobile robot; fuzzy controller; fuzzy rule based system; fuzzy rule sets; fuzzy state variables; fuzzy system; global strategies; incomplete information; indoor mobile robot navigation; local actions; sudden perceptual situations; uncertain information; Computer science; Control systems; Fuzzy control; Fuzzy sets; Fuzzy systems; Humans; Knowledge based systems; Mobile robots; Navigation; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 1995. International Joint Conference of the Fourth IEEE International Conference on Fuzzy Systems and The Second International Fuzzy Engineering Symposium., Proceedings of 1995 IEEE Int

Conference_Location

Yokohama

Print_ISBN

0-7803-2461-7

Type

conf

DOI

10.1109/FUZZY.1995.410046

Filename

410046