Fuzzy logic-based real-time robot navigation in unknown environment with dead ends
Robotics and Autonomous Systems
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Development of a new minimum avoidance system for a behavior-based mobile robot
Fuzzy Sets and Systems
An expert fuzzy cognitive map for reactive navigation of mobile robots
Fuzzy Sets and Systems
Robot navigation based on fuzzy behavior controller
ISNN'12 Proceedings of the 9th international conference on Advances in Neural Networks - Volume Part II
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Fuzzy reactive control, incorporating a local target switching scheme, is applied to the automatic navigation of an intelligent mobile robot in an unknown and changing environment. Sensed-ranging signals and relative target position signals are input to the fuzzy controller. The steering angle and the velocity change are inferred to drive the mobile robot. A reactive rule base governing the robot behavior is synthesized from the human heuristics with respect to various situations of environment. A local target switching scheme is proposed to serve as a front-end processor of the fuzzy active controller and to deal with the local trapping and wandering cycle problem in the navigation of a behavior based mobile robot. The algorithm is described, together with some particular considerations about implementation. Efficiency and effectiveness of the proposed approach are verified through simulation and experiments conducted on a Nomad 200 mobile robot