Title :
Navigation of mobile robots using fuzzy logic controllers
Author :
da Silva, I.N. ; Gomide, Fernando A.C. ; Do Amaral, W.C.
Author_Institution :
Sao Paulo Univ., Brazil
fDate :
29 Jun-1 Jul 1998
Abstract :
A fuzzy approach to the navigation control of mobile robots is presented in this paper. The problem of driving a mobile robot to a goal in an unknown environment is formulated as a fuzzy logic control problem in which local information is used to make steering and velocity decisions while the robot is moving. The fuzzy logic maps the input fuzzy sets representing the mobile robot state space determined by sensor readings to the output fuzzy sets representing mobile robot action space. We propose a direct and effective method using sensory data in order to design the fuzzy logic controller. Simulation results show the performance of the approach proposed
Keywords :
control system synthesis; fuzzy control; fuzzy set theory; mobile robots; navigation; state-space methods; fuzzy logic controller design; mobile robot navigation; mobile robot state space; output fuzzy sets; steering; unknown environment; velocity control; Fuzzy control; Fuzzy logic; Fuzzy sets; Mobile robots; Navigation; Orbital robotics; Robot control; Robot sensing systems; State-space methods; Velocity control;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743561
