Neurofuzzy-based approach to mobile robot navigation in unknown environments

IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews

Volumn 37, Issue 4, 2007, Pages 610-621

  Zhu, Anmin ^a   Yang, Simon X ^b  

^a SHENZHEN UNIVERSITY   (China)

^b UNIVERSITY OF GUELPH   (Canada)

Author keywords

"Dead cycle" problem; Mobile robot navigation; Neurofuzzy; Parameter tuning; Redundant rule suppression

Indexed keywords

MOBILE ROBOT NAVIGATION; NEUROFUZZY; ROBOT MOTION;

FUZZY LOGIC; FUZZY NEURAL NETWORKS; KNOWLEDGE BASED SYSTEMS; LEARNING ALGORITHMS; NAVIGATION; SENSORS; TARGET TRACKING;

MOBILE ROBOTS;

EID: 34447299406     PISSN: 10946977     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCC.2007.897499     Document Type: Article

References (30)

1. E. Aguirre and A. Gonzalez, "A fuzzy perceptual model for ultrasound sensors applied to intelligent navigation of mobile robots," Appl. Intell., vol. 19, pp. 171-187, 2003.
2. C. Bruckhoff and P. Dahm, "Neural fields for local path planning," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. Innovations Theory Pract Appl., vol. 3, 1998, pp. 1431-1437.
3. I. J. Cox, "Blanche: Position estimation for an autonomous robot vehicle," in Proc. IEEE/RSJ Int. Workshop Robot. Syst., 1989, pp. 432-439.
4. P. Dahm, C. Bruckhoff, and F. Joublin, "A neural field approach for robot motion control," in Proc. IEEE Int. Conf. Syst.,Man Cybern. vol. 4, 1998, pp. 3460-3466.
5. J. Godjevac, "A learning procedure for a fuzzy system: Application to obstacle avoidance," in Proc. Int. Symp. Fuzzy Logic, Zurich, Switzerland, 1995, pp. 142-148.
6. J. Godjevac and N. Steele, "Neuro-fuzzy control of a mobile robot," Neurocomputing, vol. 28, pp. 127-143, 1999.
7. H. Hagras, V. Callaghan, and M. Colley, "Online learning of the sensors' fuzzy membership functions in autonomous mobile robots," in Proc. 2000 IEEE Int. Conf. Robot. Autom., San Francisco, CA, Apr., vol. 4, pp. 3233-3238.
8. P. S. Lee and L. L. Wang, "Collision avoidance by fuzzy logic control for automated guided vehicle navigation," J. Robot. Syst., vol. 11, no. 8, pp. 743-760, 1994.
9. H. Li and S. X. Yang, "A behavior-based mobile robot with a visual landmark recognition system," IEEE Trans. Mechatronics, vol. 8, no. 3, pp. 390-400, Sep. 2003.
10. G. N. Marichal, L. Acosta, L. Moreno, J. A. Méndez, J. J. Rodrigo, and M. Sigut, "Obstacle avoidance for a mobile robot: A neuro-fuzzy approach," Fuzzy Sets Syst., vol. 124, no. 2, pp. 171-179, Dec. 2001.
11. H. Noborio, R. Nogami, and S. Hirao, "A new sensor-based path-planning algorithm whose path length is shorter on the average," in Proc. IEEE Int. Conf. Robot. Autom., New Orleans, LA, Apr. 2004, vol. 5, pp. 2832-2839.
12. R. Nogami, S. Hirao, and H. Noborio, "On the average path lengths of typical sensor-based path-planning algorithms by uncertain random mazes," in Proc. IEEE Int. Symp. Comput. Intell. Robot. Autom., Kobe, Japan, Jul. 16-20, 2003, vol. 2, pp. 471-478.
13. J. Rosenblatt, "The distributed architecture for mobile navigation," J. Exp. Theor. Artif. Intell., vol. 9, no. 2-3, pp. 339-360, Apr.-Sep. 1997.
14. P. Rusu, E. M. Petriu, T. E. Whalen, A. Cornell, and H. J. W. Spoelder, "Behavior-based neuro-fuzzy controller for mobile robot navigation," IEEE Trans. Instrum. Meas., vol. 52, no. 4, pp. 1335-1340, Aug. 2003.
15. B. S. Ryu and H. S. Yang, "Integration of reactive behaviors and enhanced topological map for robust mobile robot navigation," IEEE Trans. Syst., Man, Cybern. A, Syst. Humans, vol. 29, no. 5, pp. 474-485, Sep. 1999.
16. A. Saffiotti, "Fuzzy logic in autonomous robotics: Behavior coordination," in Proc. 6th IEEE Int. Conf. Fuzzy Syst., Barcelona, Spain, Jul. 1997, vol. 3, pp. 573-578.
17. A. Saffiotti, "The uses of fuzzy logic in autonomous robot navigation," Soft Comput., vol. 1, pp. 180-197, 1997.
18. A. Saffiotti, E. H. Ruspini, and K. Konolige, "Using fuzzy logic for mobile robot control," in Practical Applications of Fuzzy Technologies, H.-J. Zimmermann, Ed. Boston, MA: Kluwer Academic, 1999, pp. 185-206.
19. A. Sankaranarayanan and M. Vidyasagar, "A new path planning algorithm for moving a point object amidst unknown obstacles in a plane," in Proc. IEEE Int. Conf. Robot. Autom., Cincinnati, OH, May 1990, vol. 3, pp. 1930-1936.
20. K. T. Song and L. H. Sheen, "Heuristic fuzzy-neuro network and its application to reactive navigation of a mobile robot," Fuzzy Sets Syst., vol. 110, no. 3, pp. 331-340, Mar. 2000.
21. I. H. Suh, S. Lee, B. O. Kim, B. J. Yi, and S. R. Oh, "Design and implementation of a behavior-based control and learning architecture for mobile robots," in Proc. IEEE Int. Conf. Robot. Autom., Taipei, Taiwan, Sep. 2003, vol. 1, pp. 4142-4147.
22. P. Vadakkepat, O. C. Miin, X. Peng, and T. H. Lee, "Fuzzy behaviorbased control of mobile robots," IEEE Trans. Fuzzy Syst., vol. 12, no. 4, pp. 559-564, Aug. 2004.
23. W. L. Xu and S. K. Tso, "Real-time self-reaction of a mobile robot in unstructured environments using fuzzy reasoning," Eng. Appl. Artif. Intell., vol. 9, no. 5, pp. 475-485, 1996.
24. W. L. Xu and S. K. Tso, "Sensor-based fuzzy reactive navigation of a mobile robot through local target switching," IEEE Trans. Syst., Man Cybern., C, Appl. Rev., vol. 29, no. 3, pp. 451-459, Aug. 1999.
25. S. X. Yang and M. Meng, "An efficient neural network method for realtime motion planning with safety consideration," Robot. Auton. Syst., vol. 32, no. 2-3, pp. 115-128, 2000.
26. S. X. Yang and M. Meng, "Neural network approaches to dynamic collision-free trajectory generation," IEEE Trans. Syst., Man, Cybern., B, Cybern., vol. 31, no. 3, pp. 302-318, Jun. 2001.
27. S. X. Yang and Q.-H. M. Meng, "Real-time collision-freemotion planning of mobile robots using neural dynamics based approaches," IEEE Trans. Neural Netw., vol. 14, no. 6, pp. 1541-1552, Nov. 2003.
28. X. Yang, M. Moallem, and R. V. Patel, "A novel intelligent technique for mobile robot navigation," in Proc. IEEE Conf. Control Appl., Jun. 2003, vol. 1, pp. 674-679.
29. T. Yoshioka and H. Noborio, "On a proof of the deadlock-free property in an on-line path-planning by using world topology," in Proc. IEEE/ RSJ/GI Int. Conf. Intell. Robot. Syst. 1994 Adv. Robot. Syst. Real World Munich, Germany, Sep.1994, vol. 3, pp. 1946-1953.
30. E. Zalama, J. Gmez, M. Paul, and J. R. Pern, "Adaptive behavior navigation of a mobile robot," IEEE Trans. Syst., Man, Cybern., A, Syst. Humans, vol. 32, no. 1, pp. 160-169, Jan. 2002.