Integrated fuzzy global path following and obstacle avoidance for mobile robots

Zavlangas, PG; Tzafestas, SG

dc.contributor.author	Zavlangas, PG	en
dc.contributor.author	Tzafestas, SG	en
dc.date.accessioned	2014-03-01T01:16:39Z
dc.date.available	2014-03-01T01:16:39Z
dc.date.issued	2001	en
dc.identifier.issn	01371223	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/14146
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-0035788882&partnerID=40&md5=a6270d95c820def3171c3f5d8d2abcc5	en
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-0035788882&partnerID=40&md5=a6270d95c820def3171c3f5d8d2abcc5	en
dc.subject.other	Actuators	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computer simulation	en
dc.subject.other	Fuzzy control	en
dc.subject.other	Fuzzy sets	en
dc.subject.other	Knowledge based systems	en
dc.subject.other	Motion planning	en
dc.subject.other	Intelligent path planning system	en
dc.subject.other	Omnidirectional mobile robots	en
dc.subject.other	Reactive local planner	en
dc.subject.other	Mobile robots	en
dc.title	Integrated fuzzy global path following and obstacle avoidance for mobile robots	en
heal.type	journalArticle	en
heal.publicationDate	2001	en
heal.abstract	Motion planning is the process of computing a path, i.e., a sequence of robot configurations, allowing it to move from one place to another. It is a central problem in the development of autonomous mobile robots. This is true indeed, but when the environment of the robot becomes complex, i.e., uncertain, partially known, with moving obstacles or other robots, it takes much more than global motion planning to achieve motion autonomy. In this case, the ability to detect unexpected events and react accordingly becomes essential. Reactivity provides the robot with an important mechanism to immediate respond to unpredicted environmental changes. This paper describes an intelligent path planning system for omnidirectional mobile robots. Our proposed solution to the dual need for global path planning and reactivity is to adopt a two-level model: at the upper level, a planner provides the system with a global path, based on the available knowledge; at the lower level, a reactive controller follows this given global path, while dealing with the environmental contingencies. The control architecture, presented in this paper, relies upon two main complementary modules: a global path planner, that computes a nominal path between the current configuration of the robot and its goal, and a reactive local planner, whose purpose is to generate the appropriate commands for the actuators of the robot, so as to follow the global path as close as possible, while reacting in realtime to unexpected events by locally adapting the robots movements, so as to avoid collisions with unpredicted or moving obstacles. This reactive local planner consists of two separate fuzzy controllers for path following and obstacle avoidance. The functioning of the proposed system with respect to omnidirectional mobile robots and results of simulated experiments will be presented.	en
heal.journalName	Systems Science	en
dc.identifier.volume	27	en
dc.identifier.issue	4	en
dc.identifier.spage	85	en
dc.identifier.epage	96	en