Sensor modelling and fusion for fuzzy navigation of an AGV

International Journal of Robotics Research

Volumn 16, Issue 1, 1997, Pages 14-25

  Wijesoma, W S ^a   Khaw, P P ^a   Teoh, E K ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

AGV; Behavioural design; Fuzzy logic; Navigation; Sensor fusion; Sensor modelling; Simulation

Indexed keywords

COMPUTER SIMULATION; FUZZY CONTROL; MATHEMATICAL MODELS; NAVIGATION; PROXIMITY SENSORS; RELIABILITY; SENSOR DATA FUSION;

FUZZY NAVIGATION;

MOBILE ROBOTS;

EID: 5844323318     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (22)

1. J. Borenstein & Y. Koren, Obstacle avoidance with ultrasonic sensors, IEEE J. of Robotics and Automation, 4(2), 1988, 213-218.
2. H.P. Moravec, Sensor fusion in certainty grids for mobile robots, AI Magazine, 9(2), 1988, 61-74.
3. [3[ O. Khatib, Real-time obstacle avoidance for manipulators and mobile robots, Proc. IEEE Int. Conf. on Robotics and Automation, St. Louis, MO, 1985, 500-505.
4. B.H. Krogh, A generalised potential field approach to obstacle avoidance control, Proc. Int. Conf. on Robotics Research, Bethlehem, PA, 1984, 237-241.
5. B.H. Krogh & C.E. Thorpe, Integrated path planning and dynamic steering control for autonomous vehicles, Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, 1986, 1664-1669.
6. W.S. Newman & N. Hogan, High speed robot control and obstacle avoidance using dynamic potential functions, Proc IEEE Int. Conf. on Robotics and Automation, Raleigh, NC, 1987, 14-24.
7. R.A. Brooks, A robust layered control system for a mobile robot, IEEE J. of Robotics and Automation, 2(1), 1986, 14-23.
8. R.C. Arkin, Motor schema-based mobile robot navigation, Int. J. of Robotics Research, 8(4), 1989, 92-112.
9. J. Borenstein & Y. Koren, Real-time obstacle avoidance for fast mobile robots, IEEE Trans. on Systems, Man and Cybernetics, 19(5), 1989, 1179-1187.
10. J. Borenstein & Y. Koren, The vector field histogram: Fast obstacle avoidance for mobile robots, IEEE J. of Robotics and Automation, 7(3), 1991, 278-288.
11. A. Saffiotti, E.H. Ruspini, & K. Konolige, Blending reactivity and goal-directedness in a fuzzy controller, Proc. IEEE Int. Conf. on Fuzzy System, San Francisco, CA, 1993, 134-139.
12. Li Wei & Chen Zu Shun, Fuzzy logic based behaviour fusion for navigation of an intelligent mobile robot, J. of Computer 'Science and Technology, 11(4), 1996, 385-394.
13. E.W. Tunstel & M. Jamshidi, Intelligent control and evolution of mobile robot behaviour. In Application of fuzzy logic towards high machine intelligence quotient systems (Prentice Hall, 1997), 1-24.
14. R. Biewald, A neural network controller for the navigation and obstacle avoidance of a mobile robot. In Neural network for robotic control, theory and application (Ellis Horwood: 1996).
15. T.Y. Chang, S.W. Kuo, & J.Y. Hsu, A two phase navigation system for mobile robots in dynamic environments, Proc. IEEE/RSJ/GI Int. Conf. on Intelligent Robots and Systems '94, vol. 1, Munich, 1994, 306-313.
16. R. Braunstingl, J. Mujika, & J.P. Uribe, A wall following robot with a fuzzy logic controller optimized by a genetic algorithm, Proc. 4th IEEE Int. Conf. on Fuzzy Systems and 2nd Int. Fuzzy Engineering Symp., vol. 5, Yokohama, 1995, 77-82.
17. W.S. Wijesoma, P.P. Khaw, & E.K. Teoh, Sensor modelling and simulation for navigation of an outdoor AGV, Proc. IASTED Int. Conf. on Modelling and Simulation, Philadelphia, PA, 1999, 411-415.
18. P.P. Khaw, W.S. Wijesoma, & E.K. Teoh, Sensor fusion and soft computing for outdoor AGV navigation, Proc. IASTED Int. Conf. on Artificial Intelligence and Soft Computing, Honolulu, HA, 1999, 171-175.
19. W.S. Wijesoma, P.P. Khaw, & E.K. Teoh, Control and navigation of an outdoor AGV using fuzzy reasoning, Proc. IEEE/IEEJ/JSAI Int. Conf. on Intelligent Transportation System, Tokyo, 1999, 544-549.
20. J.J. Leou & W.H. Tsai, Optimal sensor arrangement for robot operation monitoring by machine vision, Int. J. of Robotics and Automation, 4(2), 1989, 81-91.
21. Technical description of LMS 210/220/290 laser measurement system (outdoor version), SICK Optic Electronic.
22. J. Borenstein & Y. Koren, Histogramic in-motion mapping for mobile robot obstacle avoidance, IEEE J. of Robotics and Automation, 7(4), 1991, 535-539.