FUZZY-LOGIC BASED COLLISION-AVOIDANCE FOR A MOBILE ROBOT

被引：26

作者：

MARTINEZ, A

TUNSTEL, E

JAMSHIDI, M

机构：

[1] CAD Laboratory for Intelligent and Robotic Systems, Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque

来源：

ROBOTICA | 1994年 / 12卷

关键词：

FUZZY LOGIC; COLLISION AVOIDANCE; MOBILE ROBOT; NAVIGATION;

D O I：

10.1017/S0263574700016866

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Navigation and collision avoidance are major areas of research in mobile robotics that involve varying degrees of uncertainty. In general, the problem consists of achieving sensor based motion control of a mobile robot among obstacles in structured and/or unstructured environments with collision-free motion as the priority. A fuzzy logic based intelligent control strategy has been developed here to computationally implement the approximate reasoning necessary for handling the uncertainty inherent in the collision avoidance problem. The fuzzy controller was tested on a mobile robot system in an indoor environment and found to perform satisfactorily despite having crude sensors and minimal sensory feedback.

引用

页码：521 / 527

页数：7

共 12 条

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