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Autonomous Navigation of a Mobile Robot in Unknown Environment Based on Fuzzy Inference
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 Title & Authors
Autonomous Navigation of a Mobile Robot in Unknown Environment Based on Fuzzy Inference
Zhao, Ran; Lee, Dong-Hwan; Lee, Hong-Kyu;
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This paper presents a navigation problem for an autonomous mobile robot in an unknown environment. The environment contains various types of obstacles and is completely unknown to the robot. Therefore, all of the surrounding information must be detected by the robot`s proximity sensors. A navigation method was developed based on a fuzzy inference system to guide the robot to move along a collision-free path and reach the goal position quickly. The obstacles are assumed to be static, and both regular and irregular types of obstacles were investigated. A wall following method is also proposed for a special environment that contains a labyrinth or sharp U-valley obstacles. Simulation results demonstrate that the proposed method has great potential for this navigation problem.
fuzzy inference;robot navigation;path planning;wall following;mobile robot;
 Cited by
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