Motion control for mobile robot obstacle avoidance and navigation: A fuzzy logic-based approach

Zavlangas, PG; Tzafestas, SG

dc.contributor.author	Zavlangas, PG	en
dc.contributor.author	Tzafestas, SG	en
dc.date.accessioned	2014-03-01T01:19:18Z
dc.date.available	2014-03-01T01:19:18Z
dc.date.issued	2003	en
dc.identifier.issn	02329298	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/15408
dc.subject	Fuzzy logic	en
dc.subject	Local navigation	en
dc.subject	Obstacle avoidance	en
dc.subject	Omnidirectional mobile robots	en
dc.subject	On-line motion planning	en
dc.subject.other	Autonomous agents	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Fuzzy sets	en
dc.subject.other	Motion control	en
dc.subject.other	Motion planning	en
dc.subject.other	Navigation	en
dc.subject.other	Online systems	en
dc.subject.other	Problem solving	en
dc.subject.other	Fuzzy motion planner	en
dc.subject.other	Goal seeking	en
dc.subject.other	Local navigation	en
dc.subject.other	Omnidirectional mobile robots	en
dc.subject.other	Mobile robots	en
dc.title	Motion control for mobile robot obstacle avoidance and navigation: A fuzzy logic-based approach	en
heal.type	journalArticle	en
heal.identifier.primary	10.1080/0232929032000115100	en
heal.identifier.secondary	http://dx.doi.org/10.1080/0232929032000115100	en
heal.publicationDate	2003	en
heal.abstract	One of the ultimate goals of mobile robotics research is to build robots that can safely carry out missions in hazardous and populated environments. Most of today's commercial mobile devices scale poorly along this dimension. Their motion planning relies on accurate, static models of the environments, and therefore they often fail their mission if humans or other unpredictable obstacles block their path, To build autonomous mobile robots one has to build systems that can perceive their environments, react to unforeseen circumstances, and plan dynamically in order to achieve their mission. Thus, the objective of the motion planning and control problem is to find collision-free trajectories, in static or dynamic environments containing some obstacles, between a start and a goal configuration. It has attracted much research in recent years. In this context the term control has a broad meaning that includes many different controls, such as low-level motor control, and behaviour control, where behaviour represents many complicated tasks, like obstacle avoidance and goal seeking. This article describes an intelligent motion planning and navigation system for omnidirectional mobile robots based on fuzzy logic. Owing to its simplicity and hence its short response time, the fuzzy navigator is especially suitable for on-line applications with strong real-time requirements. On-line planning is an on-going activity. The planner receives a continuous flow of information about occurring events and generates new commands in response to the incoming events, while previously planned motions are being executed. The fuzzy-rule-base of the proposed system combines the repelling influence, which is related to the distance and the angle between the robot and nearby obstacles, with the attracting influence produced by the distance and the angular difference between the actual direction and position of the robot and the final configuration, to generate actuating commands for the mobile platform. It can be considered as an on-line local navigation method for omnidirectional mobile robots for the generation of instantaneous collision-free motions. This reactive system is especially suitable for real-time applications. The use of fuzzy logic leads to a transparent system which can be tuned by hand or by a set of learning rules. Furthermore, this approach allows obstacle avoidance and navigation in dynamic environments. The functioning of the fuzzy motion planner with respect to omnidirectional mobile robots and results of simulated experiments are presented.	en
heal.journalName	Systems Analysis Modelling Simulation	en
dc.identifier.doi	10.1080/0232929032000115100	en
dc.identifier.volume	43	en
dc.identifier.issue	12	en
dc.identifier.spage	1625	en
dc.identifier.epage	1637	en