Double Layers Fuzzy Logic Based Mobile Robot Path Planning In Unknown Environment
نویسندگان
چکیده
A path planning method of mobile robot using both fuzzy logic and driver’s driving experience is proposed. Double layers fuzzy logic is used to control both the speed and the turning angle of the mobile robot. A method of “virtual target” is introduced to deal with the problem of local minimal, which often occurs in local path planning. The results of simulation and experiment show its effectiveness and feasibility.
منابع مشابه
Dynamical formation control of wheeled mobile robots based on fuzzy logic
In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...
متن کاملA Fuzzy Logic Behavior Architecture Controller for a Mobile Robot Path Planning in Multi-obstacles Environment
Abstract: The path planning and obstacle avoidance are the most important tasks for an autonomous mobile robot moving in an unknown environment. This paper presents a simple fuzzy logic controller which involves searching target and path planning with obstacle avoidance. In this contest, fuzzy logic controllers are constructed for target searching behavior and obstacle avoidance behavior based ...
متن کاملPath Planning of Mobile Robot Using Fuzzy - Potential Field Method
This paper deals with the navigation of a mobile robot in unknown environment using artificial potential field method. The aim of this paper is to develop a complete method that allows the mobile robot to reach its goal while avoiding unknown obstacles on its path. An approach proposed is introduced in this paper based on combing the artificial potential field method with fuzzy logic controller...
متن کاملMobile robot wall-following control using a behavior-based fuzzy controller in unknown environments
This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...
متن کاملVisual Fuzzy Logic Path Planning Controller for Mobile Robots
The fuzzy logic controller for mobile robots that tuned by genetic algorithm is designed for path planning in unknown environments. The path planning is very important for moving a robot to a specific position even there is a changing in the environment. The robot should recognize the environment around himself by using navigation plan which make the robot to accomplish the mission. This design...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Intelligent Automation & Soft Computing
دوره 15 شماره
صفحات -
تاریخ انتشار 2009