Industrial robot navigation and obstacle avoidance employing fuzzy logic

Zavlangas, PG; Tzafestas, SG

dc.contributor.author	Zavlangas, PG	en
dc.contributor.author	Tzafestas, SG	en
dc.date.accessioned	2014-03-01T01:15:39Z
dc.date.available	2014-03-01T01:15:39Z
dc.date.issued	2000	en
dc.identifier.issn	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/13649
dc.subject	on-line motion planning	en
dc.subject	local navigation	en
dc.subject	obstacle avoidance	en
dc.subject	fuzzy logic	en
dc.subject	industrial robotic manipulators	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	MOBILE	en
dc.title	Industrial robot navigation and obstacle avoidance employing fuzzy logic	en
heal.type	journalArticle	en
heal.identifier.primary	10.1023/A:1008150113712	en
heal.identifier.secondary	http://dx.doi.org/10.1023/A:1008150113712	en
heal.language	English	en
heal.publicationDate	2000	en
heal.abstract	This paper proposes a novel conceptual approach based on fuzzy logic to solve the local navigation and obstacle avoidance problem for industrial 3-dof robotic manipulators. The proposed system is divided into separate fuzzy units, which control individually each manipulator link. The fuzzy rule-base of each unit combines a repelling influence, which is related to the distance between the manipulator and the nearby obstacles, with the attracting influence produced by the angular difference, between the actual and the final manipulator configuration, to generate a new actuating command for each link. It can be considered as an on-line local navigation method for the generation of instantaneous collision-free trajectories. The strategy has been successfully applied to manipulators in different simulated workspace environments providing collision-free paths. Some of the simulation results obtained are included.	en
heal.publisher	KLUWER ACADEMIC PUBL	en
heal.journalName	JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS	en
dc.identifier.doi	10.1023/A:1008150113712	en
dc.identifier.isi	ISI:000084385100007	en
dc.identifier.volume	27	en
dc.identifier.issue	1-2	en
dc.identifier.spage	85	en
dc.identifier.epage	97	en