A MOBILE ROBOT NAVIGATION METHOD USING A FUZZY-LOGIC APPROACH

被引：31
|
作者：
BEAUFRERE, B
ZEGHLOUL, S
机构：
[1] Laboratoire de Mécanique des Solides (U.R.A. 861), Université de Poitiers, 86022, Poitiers Cedex, 40, Avenue du Recteur Pineau
来源：
ROBOTICA | 1995年 / 13卷
关键词：
AUTONOMOUS MOBILE ROBOT; FUZZY LOGIC; NAVIGATION; OBSTACLE AVOIDANCE;
D O I：
10.1017/S0263574700018270
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper treats, in a general way, the problem of mobile robot navigation in a totally unknown environment. The different aspects of this problem are dealt with one by one. We begin by introducing a simple method for perceiving and analyzing the robot's local environment based on a limited amount of distance information. Using this analysis as our base, we present a navigation algorithm containing different action modules; some of these actions use Fuzzy Logic. The results presented whether experimental or simulation show that our method is well adapted to this type of problem.
引用
收藏
页码：437 / 448
页数：12
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