Fuzzy Logic Based Navigation for Multiple Mobile Robots in Indoor Environments

DOI QR코드

DOI QR Code

Zhao, Ran;Lee, Dong Hwan;Lee, Hong Kyu

  • 투고 : 2015.11.08
  • 심사 : 2015.12.24
  • 발행 : 2015.12.25

초록

The work presented in this paper deals with a navigation problem for multiple mobile robot system in unknown indoor environments. The environment is completely unknown for all the robots and the surrounding information should be detected by the proximity sensors installed on the robots' bodies. In order to guide all the robots to move along collision-free paths and reach the goal positions, a navigation method based on the combination of a set of primary strategies has been developed. The indoor environments usually contain convex and concave obstacles. In this work, a danger judgment strategy in accordance with the sensors' data is used for avoiding small convex obstacles or moving objects which include both dynamic obstacles and other robots. For big convex obstacles or concave ones, a wall following strategy is designed for dealing with these special situations. In this paper, a state memorizing strategy is also proposed for the "infinite repetition" or "dead cycle" situations. Finally, when there is no collision risk, the robots will be guided towards the targets according to a target positioning strategy. Most of these strategies are achieved by the means of fuzzy logic controllers and uniformly applied for every robot. The simulation experiments verified that the proposed method has a positive effectiveness for the navigation problem.

키워드

Robot navigation;Multiple robots;Fuzzy logic;Indoor environment;Dynamic obstacle

참고문헌

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피인용 문헌

  1. 1. Frequentist and Bayesian Learning Approaches to Artificial Intelligence vol.16, pp.2, 2016, doi:10.5391/IJFIS.2015.15.4.305