제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제5권8호
  • /
  • Pages.990-994
  • /
  • 1999
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

퍼지-뉴럴을 이용한 이동 로봇의 장애물 충돌 회피

Navigation of a mobile robot with stationary and moving obstacles using fuzzy-neural network

  • 박찬규 (영남대학교 전기전자공학부) ;
  • 최정원 (영남대학교 전기전자공학부) ;
  • 권순학 (영남대학교 전기전자공학부) ;
  • 이석규 (영남대학교 전기전자공학부)
  • 발행 : 1999.11.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper proposes a new fuzzy-neural algorithm for navigation of a mobile robot with stationary and moving obstacles environment. The proposed algorithm uses fuzzy algorithm for its speed control and neuralnetwork for effective collision avoidance. Some computer simulation results for a mobile robot equipped with ultrasonic range sensors show that the suggested navigation algorithm is very effective to escape in stationary and moving obstacles environment.

키워드

참고문헌

  1. Proc. IEEE Int Conf. Rototics and Automation v.1 Robot navigation using the vector potential approach A Masoud;M. Bayoumi
  2. IEEE Trans. Robotics and Automat. v.13 no.1 Autonomous mobile robot global motion planning geometric beacon collection using traversability vectors J. A. Janet;R. C. Lou;M. G. Kay
  3. IEEE Trans. Robotics and Automat. v.13 no.2 Collision-free path planning for a diamond-Shaped robot using two-dimensional cellulai automata Panagiotis G.;Tzionas Thanailakis.;P G. Tsalides
  4. IEEE Trans. Robotics and Automat. v.8 no.6 A mobile robot exploration algorithm A. Zelinsky
  5. Proceeding of the $13^{th}$ KACC v.1 피지-뉴럴 네트워크를 이용한 이동 로봇의 경로 계획 박찬규;최정원;정경채;권순학;이석규
  6. IEEE Trans. Robotics Automat. v.13 no.6 Environment prediction for mobile robot in a dynamic environment C C. Chang;K-T. Song
  7. IEEE Trans. on Fuzzy System v.3 no.3 An acquisition of operator's rule for cellision avoidance using fuzzy neural networks I. Hiraga;T. Furuhashi;Y. Uchikawa;S. Nakayama