Navigation of mobile robots in unstructured environment using grid based fuzzy maps

Authors:
Özhan Karaman;Hakan Temelta
Affiliations:
Faculty of Electrical and Electronics Engineering, Maslak, Istanbul Technical University, Istanbul, Turkey;Faculty of Electrical and Electronics Engineering, Maslak, Istanbul Technical University, Istanbul, Turkey
Venue:
FSKD'05 Proceedings of the Second international conference on Fuzzy Systems and Knowledge Discovery - Volume Part II
Year:
2005

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Abstract

This article proposes a navigation technique based on fuzzy maps of the environment for real-time applications. Particularly choosing the right operator plays important role in obtaining good results rapidly and accurately for different kind of environments. Mainly, A* algorithm is used for navigating the mobile robot in the fuzzy mapped environment defined by Yager Union operator. Experiments are implemented on Nomad 200 mobile robot successfully.