Fuzzy navigation of a mobile robot

Kai-Tai Song, Jen Chau Tai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

34 Scopus citations

Abstract

A navigation system based on fuzzy logic controllers is developed for a mobile robot in an unknown environment. The structure of this fuzzy navigation system features the combination of sensor system, fuzzy controllers for motion planning and the motion control system for real-Time execution. Six ultrasonic sensors on-board the mobile robot are used for distance measurement to the immediate obstacles. Sensor data are fuzzified to be the inputs of the fuzzy controller. Three states, each with five quantized levels are used to define the fuzzy set. Two fuzzy controllers are designed to handle the navigation problem. Each fuzzy controller, which corresponds to the turn right or turn left condition, has four inputs, two outputs and 81 rules. The outputs are the command velocities to the left and right wheels, which drive the mobile robot. These command velocities are sent to the lower level motion control system. The performance of this navigation system is tested by computer simulation. Satisfactory results have been obtained and are presented in this paper.

Original languageEnglish
Title of host publicationIROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationSensor-Based Robotics and Opportunties for its Industrial Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages621-627
Number of pages7
ISBN (Electronic)0780307372
DOIs
StatePublished - 1 Jan 1992
Event1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States
Duration: 7 Jul 199210 Jul 1992

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume1
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
CountryUnited States
CityRaleigh
Period7/07/9210/07/92

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    Song, K-T., & Tai, J. C. (1992). Fuzzy navigation of a mobile robot. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications (pp. 621-627). [587405] (IEEE International Conference on Intelligent Robots and Systems; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.1992.587405