A simple fuzzy motion planning strategy for autonomous mobile robots

Yau Zen Chang*, Ren Ping Huang, Yung Pyng Chang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

This paper presents a fuzzy motion planning strategy that will enable a mobile robot to navigate in unknown indoor environments. The strategy is sensor-based and simple enough to be implemented in most low-cost systems, yet capable to demonstrate behaviours only found in high-end systems, such as wall-following and obstacle-avoidance. The strategy is composed of three modes: the normal mode, the wall-following mode, and the sub-target mode. Switch between these modes is decided by the conditions of whether the target is reached and/or within the direction of allowable steering bounds, and whether the robot is surrounded or in a dead lock situation. Distance information for motion planning is acquired using a Scanning Laser Range Finder (URG-04LX). Simulation results of some benchmark scenarios demonstrate performance of the proposed motion planning strategy.

Original languageEnglish
Title of host publicationProceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Pages477-482
Number of pages6
DOIs
StatePublished - 2007
Event33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan
Duration: 05 11 200708 11 2007

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Conference

Conference33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Country/TerritoryTaiwan
CityTaipei
Period05/11/0708/11/07

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