Behavior-based Mamdani Fuzzy Controller for Mobile Robot Wall-following

被引：0
|
作者：
Li, Xiao [1 ]
Wang, Dan [1 ]
机构：
[1] Dalian Maritime Univ, Dept Marine Engn, Dalian, Peoples R China
来源：
2015 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS ICCAR 2015 | 2015年
关键词：
Behavior-based fuzzy control; multi-type-wall; wall-following; mobile robot;
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：
Most of the researches on mobile robot wall-following problem are focused on straight or continuous smooth wall-following cases. This paper proposes a behavior-based fuzzy controller for multi-type-wall following. The fuzzy controller provides an information fusion mechanism for combining sensor data from all laser range finder sensors. The behavior-based approach is implemented as a coordinator to manage the switching among various behaviors to solve the multi-type-wall following problem. The simulation results demonstrate that the mobile robot can follow the wall with convex corner and concave corner.
引用
收藏
页码：78 / 81
页数：4
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