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Safe Navigation of Mobile Robots Using a Hybrid Navigation Framework with a Fuzzy Logic Decision Process

  • Elvis RuizEmail author
  • Raul AcuñaEmail author
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 619)

Abstract

Autonomous navigation in dynamic environments is one of the most important problems in robotics. The different solutions to achieve this goal may be categorized into two big groups, deliberative methods and reactive methods. Deliberative methods require precise map knowledge, are computationally intensive, but they usually assure a path to the goal, on the other hand reactive methods are fast, dynamic but also subject to local minima among other problems. In this paper we propose a hybrid reactive-deliberative framework for mobile robots navigation which integrates the advantages of a high level deliberative planner with a reactive low-level control. The reactive layer of this new system uses the new map information in an asynchronous way allowing a much more dynamic response of the system to environment changes. For the merging of the reactive and deliberative behaviours a new Fuzzy Logic layer is proposed which defines the contribution of each navigation layer into the final movement of the robotic platform in real-time. The proposed framework was tested in a simulated Amigobot robot with a simulated Kinect sensor using the robotic simulation platform V-REP and the programming of the different layers was implemented in ROS.

Keywords

Navigation Path-planning Mobile robots Control ROS Kinect Fuzzy 

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Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  1. 1.Mechatronics Research GroupSimón Bolívar UniversityCaracasVenezuela
  2. 2.Control Methods and Robotics LabTechnische Universität DarmstadtDarmstadtGermany

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