A novel intelligent technique for mobile robot navigation

被引：0

作者：

Yang, X ^{[1
]}

Moallem, M ^{[1
]}

Patel, RV ^{[1
]}

机构：

[1] Univ Western Ontario, Dept Elect & Comp Engn, London, ON N6A 5B9, Canada

来源：

CCA 2003: PROCEEDINGS OF 2003 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2 | 2003年

关键词：

virtual centrifugal effect algorithm (VCEA); mobile robots; fuzzy logic; navigation system; obstacle-avoidance; goal-seeking; dynamic environments;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we develop and implement a novel navigation algorithm for a mobile robot system combining a fuzzy-logic architecture with a Virtual Centrifugal Effect Algorithm (VCEA). The resulting navigation system endows the robot with the ability of negotiating an approaching obstacle, thus leading to a graceful and smooth avoidance behavior in a dynamic environment. This navigation system has been implemented on a real mobile robot, Koala, and tested in various environments. Experimental results are presented which demonstrate the effectiveness of the proposed algorithm.

引用

页码：674 / 679

页数：6

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