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

页码：1933 / 1938

页数：6