TY - GEN
T1 - A new fuzzy intelligent obstacle avoidance control strategy for wheeled mobile robot
AU - Ren, Limin
AU - Wang, Weidong
AU - Du, Zhijiang
PY - 2012
Y1 - 2012
N2 - Obstacle avoidance is the basic requirement for any autonomous mobile robot. Fuzzy intelligent obstacle avoidance strategy is proposed in this paper for the wheeled mobile robot tracking a target in the environment with obstacles, which is composed of two fuzzy logic controllers and an intelligent coordinator. Run-to-goal fuzzy controller makes the robot approach the target when there are no obstacles in the environment; Fuzzy obstacle controller will generate obstacle avoidance commands according to target orientation information and obstacle information when the robot detecting obstacles via its onboard sensors. Intelligent coordinator is designed to coordinate the two actions mentioned above to generate robot's ultimate control command. Ultimately, the robot tracks the target and realizes obstacle avoidance meanwhile. Simulations and experiments on robot platform validate the effectiveness proposed by the paper.
AB - Obstacle avoidance is the basic requirement for any autonomous mobile robot. Fuzzy intelligent obstacle avoidance strategy is proposed in this paper for the wheeled mobile robot tracking a target in the environment with obstacles, which is composed of two fuzzy logic controllers and an intelligent coordinator. Run-to-goal fuzzy controller makes the robot approach the target when there are no obstacles in the environment; Fuzzy obstacle controller will generate obstacle avoidance commands according to target orientation information and obstacle information when the robot detecting obstacles via its onboard sensors. Intelligent coordinator is designed to coordinate the two actions mentioned above to generate robot's ultimate control command. Ultimately, the robot tracks the target and realizes obstacle avoidance meanwhile. Simulations and experiments on robot platform validate the effectiveness proposed by the paper.
KW - Fuzzy logic controller
KW - Intelligent coordinator
KW - Obstacle avoidance control
KW - Wheeled mobile robot
UR - https://www.scopus.com/pages/publications/84867584046
U2 - 10.1109/ICMA.2012.6284398
DO - 10.1109/ICMA.2012.6284398
M3 - 会议稿件
AN - SCOPUS:84867584046
SN - 9781467312776
T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
SP - 1732
EP - 1737
BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Y2 - 5 August 2012 through 8 August 2012
ER -