Fuzzy navigation for robotic manipulators

Althoefer, K; Seneviratne, LD; Zavlangas, P; Krekelberg, B

dc.contributor.author	Althoefer, K	en
dc.contributor.author	Seneviratne, LD	en
dc.contributor.author	Zavlangas, P	en
dc.contributor.author	Krekelberg, B	en
dc.date.accessioned	2014-03-01T01:13:45Z
dc.date.available	2014-03-01T01:13:45Z
dc.date.issued	1998	en
dc.identifier.issn	02184885	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12709
dc.subject	Fuzzy logic	en
dc.subject	Navigation	en
dc.subject	Obstacle avoidance	en
dc.subject	Robotic manipulators	en
dc.title	Fuzzy navigation for robotic manipulators	en
heal.type	journalArticle	en
heal.identifier.primary	10.1142/S0218488598000161	en
heal.identifier.secondary	http://dx.doi.org/10.1142/S0218488598000161	en
heal.publicationDate	1998	en
heal.abstract	This paper describes a novel navigation and obstacle avoidance system for robotic manipulators. The system is divided into separate fuzzy units which individually control the links of a manipulator. The rule base of each unit combines the repelling influence of obstacles with the attracting influence of the target position in a fuzzy way to generate actuating commands for the link. Owing to its simplicity and hence its short response time, the fuzzy navigator is especially suitable in on-line applications with strong real-time requirements. Furthermore, this approach allows obstacle avoidance in dynamic environments. The functioning of the fuzzy navigator with respect to robotic manipulators and results of real-world experiments are presented.	en
heal.journalName	International Journal of Uncertainty, Fuzziness and Knowlege-Based Systems	en
dc.identifier.doi	10.1142/S0218488598000161	en
dc.identifier.volume	6	en
dc.identifier.issue	2	en
dc.identifier.spage	179	en
dc.identifier.epage	188	en