Title :
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
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;
Conference_Titel :
TENCON 99. Proceedings of the IEEE Region 10 Conference
Conference_Location :
Cheju Island
Print_ISBN :
0-7803-5739-6
DOI :
10.1109/TENCON.1999.818590
