Loading...

Intelligent mobile robot navigation in an uncertain dynamic environment

Azizi, A ; Sharif University of Technology | 2013

727 Viewed
  1. Type of Document: Article
  2. DOI: 10.4028/www.scientific.net/AMM.367.388
  3. Publisher: 2013
  4. Abstract:
  5. This paper presents a modified sensor-based online method for mobile robot navigation generating paths in dynamic environments. The core of the navigation algorithm is based on the velocity obstacle avoidance method and the guidance-based tracking algorithm. A fuzzy decision maker is designed to combine the two mentioned algorithms intelligently. Hence the robot will be able to decide intelligently in various situations when facing the moving obstacles and moving target. A noble noise cancellation algorithm using Neural Network is designed to navigate the robot in an uncertain dynamic environment safely. The results show that the robot can track a moving target while maneuvering safely in dynamic environment and avoids stationary and moving obstacles
  6. Keywords:
  7. Fuzzy decision making ; Guidance-base tracking ; Noise cancellation ; Velocity obstacle ; Intelligent mobile robot ; Mobile Robot Navigation ; Navigation algorithms ; Noise-cancellation algorithms ; Uncertain dynamic environment ; Velocity obstacles ; Algorithms ; Collision avoidance ; Decision making ; Mobile robots ; Navigation ; Neural networks ; Signal denoising ; Spurious signal noise ; Dynamics
  8. Source: Applied Mechanics and Materials ; Volume 367 , 2013 , Pages 388-392 ; 16609336 (ISSN) ; 9783037857885 (ISBN)
  9. URL: http://www.scientific.net/AMM.367.388