Fuzzy logic-based real-time robot navigation in unknown environment with dead ends

Robotics and Autonomous Systems

Volumn 56, Issue 7, 2008, Pages 625-643

  Wang, Meng ^a   Liu, James N K ^a  

^a HONG KONG POLYTECHNIC UNIVERSITY   (Hong Kong)

Author keywords

Fuzzy control; Intelligent robots; Mapping; Mobile robot motion planning; Sonar navigation

Indexed keywords

ARCHITECTURAL DESIGN; COMMUNICATION CHANNELS (INFORMATION THEORY); FUZZY INFERENCE; FUZZY SETS; FUZZY SYSTEMS; MAPS; NAVIGATION; OCCUPATIONAL RISKS; PROBLEM SOLVING; RISKS; ROBOTICS; ROBOTS;

BEHAVIOR CO-ORDINATION; BEHAVIOR DESIGN; DEAD ENDS; ELSEVIER (CO); ENVIRONMENTAL INFORMATION; GRID MAPS; INDOOR ENVIRONMENTS; LOCAL MINIMUM PROBLEM; MAXIMUM A POSTERIORI (MAP) MODELS; REAL WORLD TESTING; ROBOT NAVIGATION; SEARCHING BEHAVIOR; U-SHAPED; UNKNO WN ENVIRONMENTS;

FUZZY LOGIC;

EID: 44949209568     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2007.10.002     Document Type: Article

References (52)

1. Huang H.P., and Lee P.C. A real-time algorithm for obstacle avoidance of autonomous mobile robots. Robotica 10 (1992) 217-227
2. Kamon I., and Rivlin E. Sensory-based motion planning with global proofs. IEEE Transactions on Robotics and Automation 13 6 (1997) 814-822
3. Lim J.H., and Cho D.W. Sonar based systematic exploration method for an autonomous mobile robot operating in an unknown environment. Robotica 16 (1998) 659-667
4. Krishna K.M., and Kalra P.K. Perception and remembrance of the environment during real-time navigation of a mobile robot. Robotics and Autonomous Systems 37 (2001) 25-51
5. Maaref H., and Barret C. Sensor-based navigation of a mobile robot in an indoor environment. Robotics and Autonomous Systems 38 (2002) 1-18
6. Chatterjee R., and Matsuno F. Use of single side reflex for autonomous navigation of mobile robots in unknown environments. Robotics and Autonomous Systems 35 (2001) 77-96
7. Pin F.G., and Bender S.R. Adding memory processing behavior to the fuzzy behaviorist approach: Resolving limit cycle problems in mobile robot navigation. Intelligent Automation and Soft Computing 5 1 (1999) 31-41
8. Xu W.L. A virtual target approach for resolving the limit cycle problem in navigation of a fuzzy behavior-based mobile robot. Robotics and Autonomous Systems 30 4 (2000) 315-324
9. Xu W.L., and Tso S.K. Sensor-based fuzzy reactive navigation for a mobile robot through local target switching. IEEE Transactions on SMC 29 3 (1999) 451-459
10. Minguez J., and Montano L. Nearness diagram (ND) navigation: Collision avoidance in troublesome scenarios. IEEE Transactions on Robotics and Automation 20 Feb. (2004) 45-59
11. Oriolo G., Ulivi G., and Vendittelli M. Real-time map building and navigation for autonomous robots in unknown environments. IEEE Transactions on SMC 28 3 (1998) 316-333
12. Victorino A.C., Rives P., and Borrelly J.J. Safe navigation for indoor mobile robots. Part II: Exploration, self-localization, and map building. The International Journal of Robotics Research 22 Dec. (2003) 1019-1039
13. Dei-Jeung Huh, Jong-Hun Park, et al., Path planning and navigation for autonomous mobile robot, in: IEEE 28th Annual Conference of the Industrial Electronics Society, vol. 2, Nov. 2002, pp. 1538-1542
14. Meng Wang, James N.K. Liu, Autonomous robot navigation using fuzzy logic controller, in: IEEE International Conference on Machine Learning and Cybernetics, Shanghai, China, August 2004, pp. 691-696
15. Meng Wang, James N.K. Liu, Online path searching for robot autonomous navigation, in: IEEE Conference on Robotics, Automation and Mechatronics, RAM, Singapore, Dec. 2004, pp. 746-751
16. Saffiotti A., Ruspini E.H., and Konolige K. Using fuzzy logic for mobile robot control. In: Zimmermann H.J., and Kluwer (Eds). Practical Applications of Fuzzy Technologies (1999), Academic Publishers, Norwell, MA, USA 185-206
17. Saffiotti A. Fuzzy logic in autonomous navigation. In: Driankov D., and Saffiotti A. (Eds). Fuzzy Logic Techniques for Autonomous Vehicle Navigation (2000), Physica-Verlag, Heidelberg, New York 3-22
18. Cang Ye, Danwei Wang, A novel behavior fusion method for the navigation of mobile robots, in: IEEE International Conference on SMC, vol. 5, 2000, pp. 3526-3531
19. Goodridge S.G., and Kay M.G. Multi-layered fuzzy behavior fusion for reactive control of autonomous robots. In: Driankov D., et al. (Ed). Fuzzy Logic Techniques for Autonomous Vehicle Navigation (2000), Physica-Verlag, New York 179-204
20. Seraji H., and Howard A. Behavior-based robot navigation on challenging terrain: A fuzzy logic approach. IEEE Transactions on Robotics and Automation 18 3 (2002) 308-321
21. Godjevac J., and Steele N. Neuro fuzzy control for basic mobile robot behaviours. Fuzzy Logic Techniques for Autonomous Vehicle Navigation (2000), Physica-Verlag, New York 98-118
22. Ye C., Yung N.H.C., and Wang D. A fuzzy controller with supervised learning assisted reinforcement learning algorithm for obstacle avoidance. IEEE Transactions on SMC, Part B 33 1 (2003) 17-27
23. S. Thongchai, S. Suksakulchai, D.M. Wilkes, N. Sarkar, Sonar behavior-based fuzzy control for a mobile robot, in: IEEE Conference on SMC, vol. 5, 2000, pp. 3532-3537
24. Arkin R.C. Behavior-Based Robotics (1998), MIT Press, Cambridge, MA
25. Dudek G., and Jenkin M. Computational Principles of Mobile Robotics (2000), Cambridge University Press, United Kingdom
26. Golfarelli M., Maio D., and Rizzi S. Correction of dead-reckoning errors in map building for mobile robots. IEEE Transactions on Robotics and Automation 17 1 (2001) 37-47
27. Araujo R., and Almeida A.T. Learning sensor-based navigation of a real mobile robot in unknown worlds. IEEE Transactions on SMC, Part B 29 2 (1999) 164-178
28. Tsourveloudis N.C., Valavanis K.P., and Hebert T. Autonomous vehicle navigation utilizing electrostatic potential fields and fuzzy logic. IEEE Transactions on Robotics and Automation 17 4 (2001) 490-497
29. Na Y.K., and Oh S.Y. Hybrid control for autonomous mobile robot navigation using neural network based behavior modules and environment classification. Autonomous Robots 15 (2003) 193-206
30. Lee T.L., and Wu C.J. Fuzzy motion planning of mobile robots in unknown environments. Journal of Intelligent and Robotic Systems 37 (2003) 177-191
31. Fernandez J.L., Sanz R., Benayas J.A., and Dieguez A.R. Improving collision avoidance for mobile robots in partially known environments: The beam curvature method. Robotics and Autonomous Systems 46 (2004) 205-219
32. Ryu B.S., and Yang H.S. Integration of reactive behaviors and enhanced topological map for robust mobile robot navigation. IEEE Transactions on SMC, Part A 29 5 (1999) 474-485
33. Oh J.S., Choi Y.H., Park J.B., and Zheng Y.F. Complete coverage navigation of cleaning robots using triangular-cell-based map. IEEE Transactions on Industrial Electronics 51 3 (2004) 718-726
34. Arleo A., Millan J.D.R., and Floreano D. Efficient learning of variable-resolution cognitive maps for autonomous indoor navigation. IEEE Transactions on Robotics and Automation 15 6 (1999) 990-1000
35. Rusu P., Petriu E.M., Whalen T.E., et al. Behavior-based neuro-fuzzy controller for mobile robot navigation. IEEE Transactions on Instrumentation and Measurement 52 4 (2003) 1335-1340
36. Freirer E., Teodiano B.F., et al. A new mobile robot control approach via fusion of control signals. IEEE Transactions on SMC, Part B 34 1 (2004) 419-429
37. Salichs M.A., and Moreno L. Navigation of mobile robots: Open questions. Robotica 18 (2000) 227-234
38. Filliat D., and Meyer J.A. Map-based navigation in mobile robots: I. A review of localization strategies. Cognitive Systems Research 4 (2003) 243-282
39. Meyer J.A., and Filliat D. Map-based navigation in mobile robots: II. A review of map-learning and path-planning strategies. Cognitive Systems Research 4 (2003) 283-317
40. Borenstein J., and Koren Y. Histogramic in-motino mapping for mobile robot obstacle avoidance. IEEE Transactions on Robotics and Automation 7 4 (1991) 535-539
41. Thrun S. Learning occupancy grid maps with forward sensor models. Autonomous Robots 15 (2003) 111-127
42. Balch T., and Arkin R. Avoiding the past: A simple but effective strategy for reactive navigation. IEEE Conference on Robotics and Automation (1993) 678-685
43. Minguez J., and Montano L. Autonomous sensor-based motion control in unknown, dynamic and troublesome scenarios. Robotics and Autonomous Systems 52 (2005) 290-311
44. K. Arras, J. Persson, N. Tomatis, R. Siegwart, Real-time obstacle avoidance for polygonal robots with a reduced dynamic window, in: IEEE Int. Conf. on Robotics and Automation, 2002, pp. 3050-3055
45. R. Philipsen, R. Siegwart, Smooth and efficient obstacle avoidance for a tour guide robot, in: IEEE Int. Conf. on Robotics and Automation, 2003, pp. 446-451
46. C. Stachniss, W. Burgard, An integrated approach to goal-directed obstacle avoidance under dynamic constraints for dynamic environments, in: IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, 2002, pp. 508-513
47. O. Brock, O. Khatib, High-speed navigation using the global dynamic window approach, in: IEEE Int. Conf. on Robotics and Automation, 1999, pp. 341-346
48. I. Ulrich, J. Borenstein, VFH+: Reliable obstacle avoidance for fast mobile robots, in: IEEE Int. Conf. on Robotics and Automation, 1998, pp. 1572-1577
49. Y. Koren, J. Borenstein, Potential field methods and their inherent limitations for mobile robot navigation, in: IEEE Int. Conf. on Robotics and Automation, 1991, pp. 1398-1404
50. A. Bemporad, A. De Luca, G. Oriolo, Local incremental planning for car-like robot navigating among obstacles, in: IEEE Int. Conf. on Robotics and Automation, 1996, pp. 1205-1211
51. J. Minguez, L. Montano, Robot navigation in very complex dense and cluttered indoor/outdoor environments, in: 15th IFAC World Congress, Spain, 2002
52. A. De Luca, G. Oriolo, Local incremental planning for nonholonomic mobile robots, in: IEEE Int. Conf. on Robotics and Automation, 1994, pp. 104-110