Sonar-Based Rover Navigation for Single or Multiple Platforms: Forward Safe Path and Target Switching Approach

IEEE Systems Journal

Volumn 2, Issue 2, 2008, Pages 258-272

  Ray, Anjan Kumar ^a   Behera, Laxmidhar ^a,b   Jamshidi, Mo ^c  

^a INDIAN INSTITUTE OF TECHNOLOGY KANPUR   (India)

^b UNIVERSITY OF ULSTER   (United Kingdom)

^c The University of Texas at San Antonio   (United States)

Author keywords

Mobile robot navigation; path planning; robotic swarm; system of systems (SoS); unknown environment modeling

Indexed keywords

AUTOMATION; COLLISION AVOIDANCE; DETECTORS; EXPERIMENTS; MOBILE ROBOTS; NAVIGATION; NAVIGATION SYSTEMS; RESEARCH; ROBOTICS; SECURITY SYSTEMS; SENSOR DATA FUSION; SONAR; TARGET TRACKING; TARGETS; TURNING; UNDERWATER ACOUSTICS;

DIRECTIONAL MOTION; ENVIRONMENT CONDITIONS; GEOMETRICAL MODELLING; MINIMUM DISTANCES; MOBILE ROBOT NAVIGATION; MULTI DOMAINS; MULTIPLE PLATFORMS; NAVIGATION ENVIRONMENT; OBSTACLE AVOIDANCE (OA); OPENING ANGLES; PIONEER (CO); POSITIONING SYSTEMS; REAL TIME EXPERIMENTS; RESEARCH WORKS; ROBOTIC SYSTEMS; SENSOR FUSION (SF); SYSTEM OF SYSTEMS (SOS); UNKNO WN ENVIRONMENTS;

ROBOTS;

EID: 47049098096     PISSN: 19328184     EISSN: 19379234     Source Type: Journal    
DOI: 10.1109/JSYST.2008.925270     Document Type: Article

References (33)

1. ’O. Khatib, “Real-time obstacle avoidance for manipulators and mobile robot,” Int. J. Robot. Res., vol. 5, no. 1, pp. 90–98, 1986.
2. J. Borenstein and Y. Koren, “Obstacle avoidance with ultrasonic sensors,” IEEE J. Robot. Automat., vol. 4, no. 2, pp. 213–218, 1988.
3. V. Lumelshy and T. Skewis, “Incorporating range sensing in the robot navigation function,” IEEE Trans. Syst., Man, Cybern., vol. 18, no. 5, pp. 1058–1069, 1988.
4. I. Boren and Y. Koren, “Obstacle avoidance with ultrasonic sensors,” IEEE J. Robot. Autom., vol. 4, no. 2, pp. 213–218, Apr. 1988.
5. J. Borenstein and Y. Koren, “Real-time obstacle avoidance for fast mobile robots,” IEEE Trans. Syst., Man, Cybern., vol. 19, no. 5, pp. 1179–1187, Aug. 1989.
6. A. Martinez, E. Tunstel, and M. Jamshidi, “Fuzzy-logic based collision- avoidance for a mobile robot,” Robotica, vol. 12, no. 6, pp. 521–527, 1994.
7. F. G. Pin and Y. Watanabe, “Navigation of mobile robots using a fuzzy behaviorist approach and custom-designed fuzzy inference boards,” Robotica, vol. 12, no. 6, pp. 491–503, 1994.
8. J. Yen and N. Pfluger, “A fuzzy-logic based extension to Payton and Rosenblatts command fusion method for mobile robot navigation,” IEEE Trans. Syst., Man, Cybern., vol. 25, no. 6, pp. 971–978, Jun. 1995.
9. A. Saffiotti, “The uses of fuzzy logic in autonomous robot navigation,” Soft Comput., vol. 1, pp. 180–197, 1997.
10. H. Li and S. X. Yang, “A behavior-based mobile robot with a visual landmark recognition system,” IEEE/ASME Trans. Mechatron., vol. 8, no. 3, pp. 390–400, Sep. 2003.
11. M. Moallem, X. Yang, 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.
12. 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.
13. H. R. Beom and H. S. Cho, “A sensor-based obstacle avoidance controller for a mobile robot using fuzzy logic and neural network,” in IEEE Proc. Int. Conf. Intell. Robots Syst., Jul. 1992, pp. 1470–1475.
14. M. Maeda, M. Shimakawa, and S. Murakami, “Predictive fuzzy control of an autonomous mobile robot with forecast learning-function,” Fuzzy Sets Syst., vol. 72, no. 1, pp. 51–60, 1995.
15. N. Tschichold-Gurman, “The neural-network model rulenet and its application to mobile robot navigation,” Fuzzy Sets Syst., vol. 85, no. 2, pp. 287–303, 1997.
16. P. Reignier, V. Hansen, and J. L. Crowley, “Incremental supervised learning for mobile robot reactive control,” Robot. Auton. Syst., vol. 19, no. 3, pp. 247–257, 1997.
17. K. P. Prabir and K. Asim, “Mobile robot navigation using a neural net,” in Proc. IEEE Intern. Conf. Robot. Autom., Piscataway, NJ, 1996, pp. 1503–1508.
18. C. Bruckhoff and P. Dahm, “Neural fields for local path planning,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. Innovations Theory Pract. Appl., 1998, vol. 3, pp. 1431–1437.
19. P. Dahm, C. Bruckhoff, and F. Joublin, “A neural field approach for robot motion control,” in Proc. IEEE Int. Conf. Sys., Man Cybern., 1998, vol. 4, pp. 3460–3466.
20. S. X. Yang and M. Meng, “An efficient neural network method for real-time motion planning with safety consideration,” Robot. Auton. Syst., vol. 32, no. 2, pp. 115–128, 2000.
21. S. X. Yang and Q. H. M. Meng, “Real-time collision-free motion planning of mobile robots using neural dynamics based approaches,” IEEE Trans. Neural Netw., vol. 14, no. 6, pp. 1541–1552, Nov. 2003.
22. 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.
23. G. N. Marichal, L. Acosta, L. Moreno, J. A. Mendez, 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.
24. 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.
25. A. Zhu and S. X. Yang, “Neurofuzzy-based approach to mobile robot navigation in unknown environments,” IEEE Trans. Syst., Man, Cybern., C, vol. 37, no. 4, pp. 610–621, Jul. 2007.
26. 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, vol. 29, no. 3, pp. 451–459, Aug. 1999.
27. P. Carinena, V. R. Carlos, A. Otero, J. B. Alberto, and S. Barro, “Landmark detection in mobile robotics using fuzzy temporal rules,” IEEE Trans. Fuzzy Syst., vol. 12, no. 4, pp. 423–435, Aug. 2004.
28. T. H. S. Li, S. J. Chang, and W. Tong, “Fuzzy target tracking control of autonomous mobile robots by using infrared sensors,” IEEE Trans. Fuzzy Syst., vol. 12, no. 4, pp. 491–501, Aug. 2004.
29. J. Ren, A. M. Kenneth, and R. V. Patel, “Modified newton's method applie to potential field-based navigation for mobile robots,” IEEE Trans. Robot., vol. 22, no. 2, pp. 384–391, Apr. 2006.
30. M. Jamshidi, Ed., System of Systems Engineering Innovations for the 21st Century. New York: Wiley, 2008.
31. H. Azarnoosh, B. Horan, P. Sridhar, A. M. Madni, and M. Jamshidi, “Towards optimization of a real-world robotic-sensor system of systems,” in Proc. World Autom. Congr. (WAC), Budapest, Hungary, Jul. 2006, pp. 1–8.
32. Autonomous Control Engineering Center Univ. Texas, San Antonio, 2008 [Online]. Available: http://www.ace.utsa.edu
33. F. Sahin, B. Horn, S. Nahavandi, V. Raghavan, and M. Jamshidi, “System of Autonomous Rovers and Their Applications,” in System of Systems Engineering Principles and Applications. Boca Raton, FL: CRC Taylor Francis, 2008, ch. 14.