Command Fusion Based Fuzzy Controller Design for Moving Obstacle Avoidance of Mobile Robot
In this paper, we proposed a fuzzy inference model for navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using sensor fusion, based on situational command using an ultrasonic sensor. Instead of using “physical sensor fusion” method which generates the trajectory of a robot based upon the environment model and sensory data, “command fusion” method is used to govern the robot motions. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process.
KeywordsFuzzy Control Navigation Mobile robot Obstacle Avoidance
This research was supported by Business for Cooperative R&D between Industry, Academy, and Research Institute funded Korea Small and Medium Business Administration in 2012 (Grants No. 00045079), and the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (No. 2010-0021054).
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