Publisher : The Korea Academia-Industrial cooperation Society
DOI : 10.5762/KAIS.2016.17.3.292
Title & Authors
Autonomous Navigation of a Mobile Robot in Unknown Environment Based on Fuzzy Inference Zhao, Ran; Lee, Dong-Hwan; Lee, Hong-Kyu;
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.
D. Janglova, "Neural Networks in Mobile Robot Motion," International Journal of Advanced Robotic Systems, Vol. 1, No. 1, pp. 15-22, 2004. DOI: http://dx.doi.org/10.5772/5615
C. C. Hsu, Y. C. Liu, "Path planning for robot navigation based on Cooperative Genetic Optimization," Networking, Sensing and Control (ICNSC), 2014 IEEE 11th International Conference on, IEEE, pp. 316-321, April 2014. DOI: http://dx.doi.org/10.1109/icnsc.2014.6819645
R. Carelli, C.M. Soria and B. Morales, "Vision-based Tracking Control for Mobile Robots," in Proceedings of 12th International Conference on Advanced Robotics, pp. 148-152, July 2005. DOI: http://dx.doi.org/10.1109/icar.2005.1507405
P. K. Padhy, T. Sasaki, S. Nakamura and H. Hashimoto, "Modeling and Position Control of Mobile Robot," in Proceedings of 11th IEEE international Workshop on Advanced Motion Control, pp. 100-105, Mar. 2010. DOI: http://dx.doi.org/10.1109/amc.2010.5464018
D. Q. Khanh, Y. S. Suh, "Mobile Robot Destination Generation by Tracking a Remote Controller Using a Vision-aided Inertial Navigation Algorithm," Journal of Electrical Engineering & Technology, Vol. 8 No. 3, pp. 613-620, May, 2013. DOI: http://dx.doi.org/10.5370/JEET.2013.8.3.613
S. H. Park, G. W. Kim, "Expanded Guide Circle-based Obstacle Avoidance for the Remotely Operated Mobile Robot," Journal of Electrical Engineering & Technology, Vol. 9 No. 3, pp. 1034-1042, Sep, 2014. DOI: http://dx.doi.org/10.5370/JEET.2014.9.3.1034
S. S. Ge, Y. J. Cui, “Dynamic motion planning for mobile robots using potential field method,” Autonomous Robots, Vol. 13, No. 3, pp. 207-222, 2002. DOI: http://dx.doi.org/10.1023/A:1020564024509
Van Den Berg J. P., Overmars, M. H., “Roadmap-based motion planning in dynamic environments,” Robotics, IEEE Transactions on, Vol. 21, No. 5, pp. 885-897, 2005. DOI: http://dx.doi.org/10.1109/TRO.2005.851378
C. G. Zhang, Y. G. Xi, “Rolling path planning and safety analysis of mobile robot in dynamic uncertain environment,” Control Theory & Applications, Vol. 20, No. 1, pp. 37-44, 2003.
M. Wang, James N.K. Liu, "Fuzzy Logic Based Robot Path Planning in Unknown Environment," in Proceedings of 4th International Conference on Machine Learning and Cybernetics, vol.2, pp. 813-818, Guangzhou, China, Aug. 2005.
K. H. Su, T. P. Phan, "Robot path planning and smoothing based on fuzzy inference," System Science and Engineering (ICSSE), 2014 IEEE International Conference on. IEEE, pp. 64-68, July, 2014.