Industrial robot navigation and obstacle avoidance employing fuzzy logic

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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
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

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