Application of fuzzy decision making in mobile robot navigation in dynamic environments

Authors:
A. Babalou;N. Seifipour
Affiliations:
School of Science and Engineering, Sharif University of Technology, Kish Island, Iran;School of Science and Engineering, Sharif University of Technology, Kish Island, Iran
Venue:
FUZZ-IEEE'09 Proceedings of the 18th international conference on Fuzzy Systems
Year:
2009

Citing 3
Cited 0

A Bayesian approach to real-time obstacle avoidance for a mobile robot

Autonomous Robots
Robot Motion Planning

Robot Motion Planning
Guidance-Based On-Line Robot Motion Planning for the Interception of Mobile Targets in Dynamic Environments

Journal of Intelligent and Robotic Systems

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Abstract

This paper presents a modified sensor-based online method for mobile robot navigation generating paths in dynamic environments. The intelligent part of the algorithm is a Fuzzy Decision Maker (FDM) which enables the robot to do both the guidance-based tracking algorithm and the obstacle avoidance simultaneously. The output of FDM is a weighted combination of velocity vectors generated by velocity obstacle algorithm and guidance based tracking algorithm. The results prove that the robot can track a moving target while maneuvering safely in dynamic environment and avoids stationary and moving obstacles.