Title :
A study on real-time implementation of obstacle avoidance for autonomous travelling robot
Author :
Shim, Byoung-Kyun ; Hwang, Won-Jun ; Choi, Kyung-Sun ; Thu, Le Xuan ; Han, Sung-Hyun
Author_Institution :
Dept. of Adv. Eng., Kyungnam Univ., Changwon, South Korea
Abstract :
We Propose a new approach to the design and real implementation of wall following and fuzzy perception concept with a non-holonomic mobile robot named KU-DAWIN Robot. The main focus of this paper is obtaining a fuzzy perception of the environment in the design of each reactive behavior and solving the problem of behavior combination to implement a fuzzy behavior based control architecture. It should be remarked that, the proposed technique of the nonholonomic constraints are considered in the design of each behavior. Furthermore, in order to improve the capabilities of the intelligent control system and its practical applicability, teleoperation and planned behaviors, together with their combination with reactive ones, have been considered. Experimental results, of an application to control the KU-DAWIN Robot autonomous vehicle, demonstrate the robustness of the proposed method.
Keywords :
collision avoidance; fuzzy control; intelligent control; mobile robots; real-time systems; KU-DAWIN robot; autonomous travelling robot; control architecture; fuzzy behavior; fuzzy perception; intelligent control system; mobile robot; nonholonomic constraints; obstacle avoidance; reactive behavior; real-time implementation; Acoustics; Mobile robots; Navigation; Robot sensing systems; Vectors; Vehicles; Fuzzy Controller; Non-holonomic Mobile Robot; Robot Navigation; Ultrasonic Sensor;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8