Fuzzy Reactive Control for Wheeled Mobile Robots

被引:0
|
作者
Chand, Praneel [1 ]
机构
[1] Univ South Pacific, Sch Phys & Engn, Suva, Fiji
关键词
mobile robots; navigation systems; reactive control; obstacle avoidance; dynamic window; fuzzy logic; OBSTACLE AVOIDANCE;
D O I
暂无
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
A mobile robot's ability to negotiate obstacles is important for successful point-to-point navigation. Hence, this paper presents a two stage fuzzy reactive control method. The first stage consists of a direction sensor that employs a fuzzy objective function to compute a direction (heading angle) for a robot to travel. At the second stage, a fuzzy dynamic window method utilizes a fuzzy objective function to determine the target wheel velocities of the robot. Simulations with two heterogeneous robots are performed in multiple environments. Initial results indicate that the fuzzy methods improve path length and are better at reducing speed around obstacles than linear methods.
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页码:167 / 172
页数:6
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