DocumentCode
399335
Title
An improved fuzzy logic based navigation system for mobile robots
Author
Yang, X. ; Moallem, M. ; Patel, R.V.
Author_Institution
Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, Ont., Canada
Volume
2
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
1709
Abstract
In this paper, we first describe some "goal-unreachable" problems found in fuzzy logic-based algorithms for mobile robot navigation systems. Then, a new algorithm is developed to solve one of the problems, i.e., a problem with nearby obstacles. The resulting navigation system has been implemented on a real mobile robot, Koala, and tested in various environments. Experimental results are presented which demonstrate the effectiveness and improvement of the resulting fuzzy navigation system over conventional fuzzy-logic navigation algorithms.
Keywords
collision avoidance; fuzzy logic; mobile robots; navigation; Koala robot; fuzzy logic; goal-unreachable problems; mobile robots; navigation system; obstacle; Fuzzy logic; Fuzzy sets; Fuzzy systems; Mobile robots; Motion planning; Navigation; Path planning; Real time systems; Robot sensing systems; System testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1248890
Filename
1248890
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