Journal of Intelligent and Robotic 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
Evolution of Fuzzy Controllers for Robotic Vehicles: The Role of Fitness Function Selection
Journal of Intelligent and Robotic Systems
Robust navigation in an unknown environment with minimal sensing and representation
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on human computing
Navigation of mobile robots in the presence of obstacles
Advances in Engineering Software
Switching control approach for stable navigation of mobile robots in unknown environments
Robotics and Computer-Integrated Manufacturing
Intelligent flight task algorithm for unmanned aerial vehicle
Expert Systems with Applications: An International Journal
Fuzzy logic unmanned air vehicle motion planning
Advances in Fuzzy Systems
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology - Computational intelligence models for image processing and information reasoning
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Most conventional motion planning algorithms that are based on the model of the environment cannot perform well when dealing with the navigation problem for real-world mobile robots where the environment is unknown and can change dynamically. In this paper, a layered goal-oriented motion planning strategy using fuzzy logic is developed for a mobile robot navigating in an unknown environment. The information about the global goal and the long-range sensory data are used by the first layer of the planner to produce an intermediate goal, referred to as the way-point, that gives a favorable direction in terms of seeking the goal within the detected area. The second layer of the planner takes this way-point as a subgoal and, using short-range sensory data, guides the robot to reach the subgoal while avoiding collisions. The resulting path, connecting an initial point to a goal position, is similar to the path produced by the visibility graph motion planning method, but in this approach there is no assumption about the environment. Due to its simplicity and capability for real-time implementation, fuzzy logic has been used for the proposed motion planning strategy. The resulting navigation system is implemented on a real mobile robot, Koala, and tested in various environments. Experimental results are presented which demonstrate the effectiveness of the proposed fuzzy navigation system.