A fuzzy obstacle avoidance controller using a lookup-table sharing method and its applications for mobile robots

International Journal of Advanced Robotic Systems

Volumn 8, Issue 5, 2011, Pages 39-48

  Kim, Jinwook ^a   Kim, Yoon Gu ^a   An, Jinung ^a  

^a Daegu Gyeongbuk Institute of Science and Technology   (South Korea)

Author keywords

Autonomous navigation; Fuzzy controller; Lookup table; Mobile robot; Obstacle avoidance

Indexed keywords

COLLISION AVOIDANCE; MOBILE ROBOTS; TABLE LOOKUP;

AUTONOMOUS NAVIGATION; BASIS FUNCTIONS; FUZZY CONTROLLERS; FUZZY OBSTACLE AVOIDANCE; INTEGRATION TOOLS; ITS APPLICATIONS; MICROSOFT ROBOTICS DEVELOPER STUDIOS; PROCESSING SPEED;

CONTROLLERS;

EID: 84948730352     PISSN: 17298806     EISSN: 17298814     Source Type: Journal    
DOI: 10.5772/45700     Document Type: Article

References (14)

1. Koren Y, Borenstein J, Potential field methods and their inherent limitations for mobile robot navigation," in Proceedings of IEEE Int. Conf. Robotics and Automation, pp. 1398-1404, April 1991. (Pubitemid 21717107)
2. Borenstein J, Koren Y, "The vector field histogram-fast obstacle avoidance for mobile robots," in Proceedings of IEEE Int. Conf. Robotics and Automation, pp. 278-288, June 1991. (Pubitemid 21660990)
3. Thongchai S, Kawamura K, "Application of fuzzy control to a sonar based obstacle avoidance mobile robot," in Proceedings of IEEE Int. Conf. Control Applications, pp. 425-430, Sep. 2000. (Pubitemid 32188655)
4. L.-X. Wang, "Adaptive Fuzzy Systems and Control: Design and Stability Analysis," Prentice-Hall, Englewood Cliffs, New Jersey, 1994.
5. R. Palm, D. Driankov, and H. Hellendoorn, "Model Based Fuzzy Control: Fuzzy Gain Schedulers and Sliding Mode Fuzzy Controllers," Springer-Verlag Berlin, USA, 1997.
6. K. M. Passino and S. Yurkovich, "Fuzzy Control," Addison Wesley Longman, Menlo Park, CA, 1998.
7. E. Aguirre, A. Gonzalez, "Fuzzy behaviors for mobile robot navigation," International Journal of Approximate Reasoning, pp. 255-289, 2000.
8. A. De Santis, B. Siciliano and L. Villani, "A unified fuzzy logic approach to trajectory planning and inverse kinematics for a fire fighting robot operating in tunnels," Intelligent Service Robotics, vol. 1, no. 1, pp. 41-49, 2008.
9. Indrani Kar and Laxmidhar Behera, Visual motor control of a 7 DOF robot manipulator using a fuzzy SOM network, Intelligent Service Robotics, vol. 3, no. 1, pp. 49-60, 2010.
10. Mbede J B, Shugen Ma, Lei Zhang, Toure Y, Graefe V, "Robust neuro-fuzzy navigation of mobile manipulator among dynamic obstacles," in Proceedings of IEEE Int. Conf. on Robotics and Automation, pp.5051-5057, May 2004.
11. John H. Lilly, "Evolution of a Negative-Rule Fuzzy Obstacle Avoidance Controller for an Autonomous Vehicle," IEEE Trans. Fuzzy Systems, vol.15, no.4, pp. 718-728, August 2007. (Pubitemid 47316719)
12. H. Kiendl, "Design of advanced fuzzy systems," in Proceedings of the TOOLMET'99 Symposium-Tool Environments and Development Methods for Intelligent Systems, 1999.
13. J. S. Branson, "A Trainable fuzzy system incorporating dynamically variable asymmetric spreads and negative rule defuzzification," in Louisville, KY, Ph.D. dissertation Univ. of Louisville, May 2000.
14. http://msdn.microsoft.com/en-us/robotics.