Fuzzy navigation strategy: application to two distinct autonomous mobile robots

Authors:
Mahieddine Benreguieg;Philippe Hoppenot;Hichem Maaref;Etienne Colle;Claude Barret
Affiliations:
CEMIF - Complex Systems Group - University of Evry, 40 rue du Pelvoux, 91020 Evry Cedex, France. E-mail: benreguieg@cemif.univ-evry.fr;CEMIF - Complex Systems Group - University of Evry, 40 rue du Pelvoux, 91020 Evry Cedex, France. E-mail: benreguieg@cemif.univ-evry.fr;CEMIF - Complex Systems Group - University of Evry, 40 rue du Pelvoux, 91020 Evry Cedex, France. E-mail: benreguieg@cemif.univ-evry.fr;CEMIF - Complex Systems Group - University of Evry, 40 rue du Pelvoux, 91020 Evry Cedex, France. E-mail: benreguieg@cemif.univ-evry.fr;CEMIF - Complex Systems Group - University of Evry, 40 rue du Pelvoux, 91020 Evry Cedex, France. E-mail: benreguieg@cemif.univ-evry.fr
Venue:
Robotica
Year:
1997

Citing 5
Cited 5

Real-time obstacle avoidance for manipulators and mobile robots

International Journal of Robotics Research
Autonomous mobile robots: vehicles with cognitive control

Autonomous mobile robots: vehicles with cognitive control
Robot Motion Planning

Robot Motion Planning
Uncertainty in Artificial Intelligence

Uncertainty in Artificial Intelligence
Mobile Robot Miniaturisation: A Tool for Investigation in Control Algorithms

The 3rd International Symposium on Experimental Robotics III

Mobile Robot Command by Man–Machine Co-Operation – Application to Disabled and Elderly People Assistance

Journal of Intelligent and Robotic Systems
Application of a Possibilitic-Based Approach to Mobile Robotics

Journal of Intelligent and Robotic Systems
Navigation of multiple mobile robots using a neural network and a Petri Net model

Robotica
Ultrasonic Sensor Based Fuzzy-Neural Control Algorithm of Obstacle Avoidance for Mobile Robot

ISNN '07 Proceedings of the 4th international symposium on Neural Networks: Advances in Neural Networks
A highly interpretable fuzzy rule base using ordinal structure for obstacle avoidance of mobile robot

Applied Soft Computing

Quantified Score

Hi-index	0.00

Visualization

Abstract

Most motion controls of mobile robots are based on the classical scheme of planning-navigation-piloting. The navigation function, the main part of which consists in obstacle avoidance, has to react with the shortest response time. The real-time constraint hardly limits the complexity of sensor data processing. The described navigator is built around fuzzy logic controllers. Besides the well-known possibility of taking into account human know-how, the approach provides several contributions: a low sensitivity to erroneous or inaccurate measures and, if the inputs of the controllers are normalised, an effective portability on various platform. To show these advantages, the same fuzzy navigator has been implemented on two mobile robots. Their mechanical structures are close, except for size and the sensing system.