Robot fuzzy motion planing approach in unknown environments

Bao Jin; Yi Li Fu; Shu Guo Wang; Zheng Cai Cao

Robot fuzzy motion planing approach in unknown environments

Bao Jin^*
, Yi Li Fu
, Shu Guo Wang
, Zheng Cai Cao

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

5 Scopus citations

Abstract

A fuzzy robot motion planning approach is proposed in unknown environments for three-degree industrial robots. The proposed planning system is composed of several separate fuzzy units, which control individually each manipulator joint. Each unit combines a repelling influence, which is related to the nearby obstacle, with the attracting influence produced by the final manipulator configuration, to generate actuating command for each link. Effectiveness of the proposed approach is verified through simulation.

Original language	English
Pages (from-to)	1315-1317+1399
Journal	Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology
Volume	37
Issue number	10
State	Published - Oct 2005

Keywords

Fuzzy control
Motion planning
Robot

Cite this

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title = "Robot fuzzy motion planing approach in unknown environments",

abstract = "A fuzzy robot motion planning approach is proposed in unknown environments for three-degree industrial robots. The proposed planning system is composed of several separate fuzzy units, which control individually each manipulator joint. Each unit combines a repelling influence, which is related to the nearby obstacle, with the attracting influence produced by the final manipulator configuration, to generate actuating command for each link. Effectiveness of the proposed approach is verified through simulation.",

keywords = "Fuzzy control, Motion planning, Robot",

author = "Bao Jin and Fu, \{Yi Li\} and Wang, \{Shu Guo\} and Cao, \{Zheng Cai\}",

year = "2005",

month = oct,

language = "英语",

volume = "37",

pages = "1315--1317+1399",

journal = "Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology",

issn = "0367-6234",

publisher = "Harbin Institute of Technology",

number = "10",

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TY - JOUR

T1 - Robot fuzzy motion planing approach in unknown environments

AU - Jin, Bao

AU - Fu, Yi Li

AU - Wang, Shu Guo

AU - Cao, Zheng Cai

PY - 2005/10

Y1 - 2005/10

N2 - A fuzzy robot motion planning approach is proposed in unknown environments for three-degree industrial robots. The proposed planning system is composed of several separate fuzzy units, which control individually each manipulator joint. Each unit combines a repelling influence, which is related to the nearby obstacle, with the attracting influence produced by the final manipulator configuration, to generate actuating command for each link. Effectiveness of the proposed approach is verified through simulation.

AB - A fuzzy robot motion planning approach is proposed in unknown environments for three-degree industrial robots. The proposed planning system is composed of several separate fuzzy units, which control individually each manipulator joint. Each unit combines a repelling influence, which is related to the nearby obstacle, with the attracting influence produced by the final manipulator configuration, to generate actuating command for each link. Effectiveness of the proposed approach is verified through simulation.

KW - Fuzzy control

KW - Motion planning

KW - Robot

UR - https://www.scopus.com/pages/publications/27944492875

M3 - 文章

AN - SCOPUS:27944492875

SN - 0367-6234

VL - 37

SP - 1315-1317+1399

JO - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

JF - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

IS - 10

ER -

Robot fuzzy motion planing approach in unknown environments

Abstract

Keywords

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