TY - GEN
T1 - A simple fuzzy motion planning strategy for autonomous mobile robots
AU - Chang, Yau Zen
AU - Huang, Ren Ping
AU - Chang, Yung Pyng
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=49949107547&partnerID=8YFLogxK
U2 - 10.1109/IECON.2007.4460225
DO - 10.1109/IECON.2007.4460225
M3 - 会议稿件
AN - SCOPUS:49949107547
SN - 1424407834
SN - 9781424407835
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 477
EP - 482
BT - Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
T2 - 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Y2 - 5 November 2007 through 8 November 2007
ER -