A Goal-Oriented Fuzzy Reactive Control Method for Mobile Robot Navigation in Unknown Environment

被引：0
|
作者：
Liu, Honglin [1 ]
Hu, Peng [1 ]
Luo, Yangyu [1 ]
Li, Chengrong [1 ]
机构：
[1] Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
来源：
ISIE: 2009 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS | 2009年
关键词：
BEHAVIORS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
To realize autonomous goal-oriented navigation of a mobile robot in an unknown environment, this paper proposed a fuzzy reactive control method. A virtual target approach under special optimization criteria is applied to resolve trap situation problems such as recursive U-shaped environment. The other topic considered in this paper is the Goal-Unreachable with Nearby Obstacles (GUWNO), such problem is resolved by a simple but efficient approach based on dynamic safe distance. Simulation and experimental results are presented to show the effectiveness of these proposed approaches.
引用
收藏
页码：1933 / 1938
页数：6
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