A fully modular online controller for robot navigation in static and dynamic environments

Taheri, J ; Sharif University of Technology | 2003

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  1. Type of Document: Article
  2. DOI: 10.1109/CIRA.2003.1222082
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2003
  4. Abstract:
  5. In this paper, a new approach for behavior based architecture in mobile robot navigation in unknown environments is presented. In this approach, the general actions of a mobile robot are classified into three thoroughly separated tasks. Then, an individual fuzzy controller is designed and implemented for each task (behavior). Finally, a behavior selector is designed to switch between the robot tasks (behavior patterns) and manage all separated fuzzy controllers to navigate a mobile robot in a fully unknown environment. Another case considered in this paper is to test and examine the proposed algorithm in an environment including the static and dynamic (moving) obstacles. The most difficult case of robot navigation examined in this paper is when the obstacles in the robot's environment are assumed to be both static and dynamic, while the target of the robot has a dynamics position (like a moving carriage) too. © 2003 IEEE
  6. Keywords:
  7. Fuzzy Controller and Behavior Based Algorithms ; Robot Navigation
  8. Source: 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003, 16 July 2003 through 20 July 2003 ; Volume 1 , 2003 , Pages 163-168 ; 0780378660 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/1222082