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

  • 제12권6호
  • /
  • Pages.554-560
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  • 2006
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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자코비안과 퍼지 추론 시스템을 이용한 이동로봇의 주행문제에 관한 연구

Study on Mobile Robot's Navigation Problem Using Jacobian and Fuzzy Inference System

  • 최규종 (부경대학교 기계공학과) ;
  • 안두성 (부경대학교 기계공학부)
  • 발행 : 2006.06.01
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초록

In this paper, we propose the topological map building method about unknown environment using the ultrasonic sensors. An ultrasonic sensor inherently has the range error due to the specular reflection. To decrease this error, we estimate the obstacle states(position and velocity) using the local minimum sensor values and Jacobian. Estimated states are used to avoid the obstacles and build the topological map similar to the type that human being memorizes an environment. When a mobile robot is faced with three problems(comer way, cross way and dead end), it senses the movable directions using FIS(Fuzzy Inference System). Among these directions, it can select the target direction using binary decision tree(Turn Side Selector). Proposed algorithm has been verified with three simulations and three implementations.

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참고문헌

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