Reliable goal-directed reactive control of autonomous mobile robots
Reliable goal-directed reactive control of autonomous mobile robots
Robot Motion Planning
Adaptive hierarchy of distributed fuzzy control: application to behavior control of rovers
Adaptive hierarchy of distributed fuzzy control: application to behavior control of rovers
A genetic-fuzzy approach for mobile robot navigation among moving obstacles
International Journal of Approximate Reasoning
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In this paper, the "goal-unreachable" problems found in fuzzy logic-based algorithms for mobile robot navigation systems are studied. Two algorithms based on sensory information are developed to address problems with Goal-Unreachable with Large Obstacles (GUWLO) and Goal-Unreachable with Nearby Obstacles (GUWNO). The GUWLO problem occurs when the absolute value of the target angle is large and the directions to the left (or right) are completely blocked. This is alleviated by interpolating a temporary target angle considering the surface feature of the obstacle in front of the robot. The GUWNO problem arises because of the repulsive influence from obstacles close to the goal position. It is overcome by including an eliminator ε in the fuzzy navigation system, taking into account the relative distance between the robot and its goal position. The resulting navigation system is implemented on a real mobile robot, Koala, and tested in various environments. Experimental results are presented that demonstrate the effectiveness of the resulting fuzzy navigation system and its improved performance over conventional fuzzy logic navigation algorithms.