Title :
Robot´s motion decision-making system in unknown environment and its application to a mobile robot
Author :
Boonphoapichart, Somchai ; Komada, Satoshi ; Hori, Takamasa
Author_Institution :
Dept. Electr. & Electron. Eng., Mie Univ., Japan
Abstract :
A fuzzy decision-making system, which is developed from a fuzzy decision-making method and an autonomous functional architecture, for multi-objective robots motion planning and control is described. The system is applied to an omni-directional mobile robot with active stereo cameras capable of panoramic viewing. The mobile robot can be commanded to move to a target point through an unknown environment while satisfying multiple goals and constraints. The advantages of the proposed system are confirmed by simulation experiments.
Keywords :
decision making; fuzzy logic; fuzzy set theory; mobile robots; motion control; path planning; active stereo cameras; autonomous functional architecture; fuzzy decision-making system; motion control; motion decision-making system; multi-objective motion planning; omni-directional mobile robot; panoramic viewing; unknown environment; Cameras; Control systems; Decision making; Fuzzy control; Fuzzy systems; Mobile robots; Motion control; Motion planning; Robot motion; Robot vision systems;
Conference_Titel :
Industrial Technology, 2002. IEEE ICIT '02. 2002 IEEE International Conference on
Print_ISBN :
0-7803-7657-9
DOI :
10.1109/ICIT.2002.1189852
