Title :
Sensor-based fuzzy reactive navigation of a mobile robot through local target switching
Author :
Xu, W.L. ; Tso, S.K.
Author_Institution :
Inst. of Technol. & Eng., Massey Univ., Palmerston North, New Zealand
fDate :
8/1/1999 12:00:00 AM
Abstract :
Fuzzy reactive control, incorporating a local target switching scheme, is applied to the automatic navigation of an intelligent mobile robot in an unknown and changing environment. Sensed-ranging signals and relative target position signals are input to the fuzzy controller. The steering angle and the velocity change are inferred to drive the mobile robot. A reactive rule base governing the robot behavior is synthesized from the human heuristics with respect to various situations of environment. A local target switching scheme is proposed to serve as a front-end processor of the fuzzy active controller and to deal with the local trapping and wandering cycle problem in the navigation of a behavior based mobile robot. The algorithm is described, together with some particular considerations about implementation. Efficiency and effectiveness of the proposed approach are verified through simulation and experiments conducted on a Nomad 200 mobile robot
Keywords :
computerised navigation; fuzzy control; intelligent control; mobile robots; motion control; sensors; Nomad 200 mobile robot; automatic navigation; behavior based mobile robot; changing environment; front-end processor; fuzzy active controller; fuzzy controller; fuzzy reactive control; human heuristics; intelligent mobile robot; local target switching; local target switching scheme; local trapping; reactive rule base; relative target position signals; robot behavior; sensed ranging signals; sensor based fuzzy reactive navigation; steering angle; velocity change; wandering cycle problem; Automatic control; Fuzzy control; Humans; Intelligent robots; Intelligent sensors; Mobile robots; Navigation; Robot sensing systems; Robotics and automation; Signal synthesis;
Journal_Title :
Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on
DOI :
10.1109/5326.777079