SENSOR-BASED NAVIGATION OF AGRICULTURAL AUTONOMOUS MOBILE ROBOTS

被引：0
|
作者：
Heidari, F. [1 ]
Vakil, M. [1 ]
Fotouhi, R. [1 ]
机构：
[1] Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 0W0, Canada
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2012, VOL 4, PTS A AND B | 2012年
关键词：
OBSTACLE AVOIDANCE; FUZZY; CONTROLLER; BEHAVIORS; ALGORITHM;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Investigation on development of autonomous mobile robots for agricultural use in a complex and mostly unstructured environment is studied. An approach that uses fuzzy-logic control and distance-based sensory data for real-time navigation of a mobile robot in an unknown farm setting is proposed This approach requires no prior knowledge of the environment and adjusts a safety margin to cope with dynamic and unforeseen conditions. The simulation and experimental results indicate that the proposed strategy navigates robot in different conditions safely and efficiently. Comparing our results with vector field histogram and preference-based fuzzy approaches revealed that the approach suggested here produces shorter and smoother paths toward goal in almost all of the test cases examined
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页码：901 / 908
页数：8
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