Fuzzy modeling-Part I: A spatial model approach for robot navigation via fuzzy potential energy

Kuo Yang Tu, Tsu Tian Lee, Chi-Hsu Wang

Research output: Contribution to conferencePaper

3 Scopus citations

Abstract

This two-part series discusses a novel design and application of fuzzy modeling, There are two types of fuzzy modeling: (1) imitating expert experience or implementing engineering knowledge and (2) modeling a complex or unknown system. In Part I of this paper, the second type of fuzzy modeling is employed to define Fuzzy Potential Energy (FPE). Different FPE values are then assigned into a workspace to construct a spatial model for robot navigation. How the FPE guides a robot is revealed by its gradient directions. A workspace that contains a U-shaped obstacle is used as an example to illustrate the FPE applications. Two situations, one with the start position outside the U-shaped obstacle and the other with the start position inside, are discussed. The discussions show that FPE provides a way to merge both global and local path-planning strategies. The proposed FPE concretely improves traditional path planning strategy. This two-part series pioneers a novel design and application of fuzzy modeling for path planing and motion control.

Original languageEnglish
Pages313-318
Number of pages6
StatePublished - 11 Jul 2003
EventThe IEEE International conference on Fuzzy Systems - St. Louis, MO, United States
Duration: 25 May 200328 May 2003

Conference

ConferenceThe IEEE International conference on Fuzzy Systems
CountryUnited States
CitySt. Louis, MO
Period25/05/0328/05/03

Keywords

  • Fuzzy modeling
  • Fuzzy Set Theory
  • Robot Navigation

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    Tu, K. Y., Lee, T. T., & Wang, C-H. (2003). Fuzzy modeling-Part I: A spatial model approach for robot navigation via fuzzy potential energy. 313-318. Paper presented at The IEEE International conference on Fuzzy Systems, St. Louis, MO, United States.