Mobile robot control based on fuzzy behavior and robot safety body in unknown environment

被引：0
|
作者：
Fu, YL [1 ]
Xu, HY [1 ]
Wang, SG [1 ]
Liu, JG [1 ]
Xu, H [1 ]
Li, H [1 ]
机构：
[1] Harbin Inst Technol, Inst Robot, Dept Mech Engn, Harbin 150001, Heilongjiang, Peoples R China
来源：
2005 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, PROCEEDINGS | 2005年
关键词：
unknown environment; mobile robot; fuzzy behavior-based architecture; robot safety body;
D O I：
10.1109/CIRA.2005.1554334
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Based on the analysis of unknown environment for mobile robot, a robot safety body, sensing body and logic body are put forward with the robot physical body together. An open fuzzy behavior-based control architecture is then proposed on the basis of robot safety body for mobile robots in complex and unstructured environments. Many sensors in various kinds are used to localize and navigate with fuzzifcation on target information, obstacle information and local terrain. Finally lots experiments of our mobile robot are carried out in many kinds of man-made complex environments, and the control architecture and the robot safety body with our robot is proved valid, which give a solid support for our further research for mobile robot in unknown environments.
引用
收藏
页码：547 / 552
页数：6
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