A study on path planning for mobile robot based on fuzzy logic controller

Author

Kim, B.N. ; Kwon, O.S. ; Kim, K.H. ; Lee, E.H. ; Hong, S.H.

Author_Institution

Dept. of Inf. & Electron. Eng., Konyang Univ., Chungnam, South Korea

Volume

2

fYear

1999

fDate

36495

Firstpage

1002

Abstract

In this paper, we propose an efficient navigation algorithm employing fuzzy theory, which does not need analytical models on an environment. A technique that a single module can drive multiple ultrasonic sensors is presented. In addition, an ultrasonic sensor drive circuitry design for detection and avoidance of unknown obstacles is described. Finally, this paper presents the efficiency of the proposed fuzzy algorithm both through simulation and through floor test

Keywords

collision avoidance; distance measurement; fuzzy control; mobile robots; ultrasonic transducers; distance measurement; floor test; fuzzy algorithm; fuzzy logic controller; mobile robot; multiple ultrasonic sensors; navigation algorithm; path planning; simulation; ultrasonic sensor drive circuitry design; unknown obstacles avoidance; unknown obstacles detection; Fuzzy control; Fuzzy logic; Mobile robots; Navigation; Path planning; Robot sensing systems; Sensor arrays; Sensor phenomena and characterization; Signal processing algorithms; Ultrasonic variables measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON 99. Proceedings of the IEEE Region 10 Conference

Conference_Location

Cheju Island

Print_ISBN

0-7803-5739-6

Type

conf

DOI

10.1109/TENCON.1999.818590

Filename

818590