Application of Fuzzy Decision Making in Mobile Robot Navigation in Dynamic Environments

被引：3
作者：
Babalou, A. [1 ]
Seifipour, N. [1 ]
机构：
[1] Sharif Univ Technol, Sch Sci & Engn, Kish Isl, Iran
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3 | 2009年
关键词：
Dynamic environment; Guidance-based tracking; Fuzzy Decision Making; Velocity Obstacle;
D O I：
10.1109/FUZZY.2009.5277189
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a modified sensor-based online method for mobile robot navigation generating paths in dynamic environments. The intelligent part of the algorithm is a Fuzzy Decision Maker (FDM) which enables the robot to do both the guidance-based tracking algorithm and the obstacle avoidance simultaneously. The output of FDM is a weighted combination of velocity vectors generated by velocity obstacle algorithm and guidance based tracking algorithm. The results prove that the robot can track a moving target while maneuvering safely in dynamic environment and avoids stationary and moving obstacles.
引用
收藏
页码：877 / 881
页数：5
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