کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
390820 661305 2009 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Development of a new minimum avoidance system for a behavior-based mobile robot
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Development of a new minimum avoidance system for a behavior-based mobile robot
چکیده انگلیسی

A new fuzzy logic algorithm is developed for mobile robot navigation in local environments. A Pioneer robot perceives its environment through an array of eight sonar sensors and self positioning-localization sensors. While the fuzzy logic body of the algorithm performs the main tasks of obstacle avoidance and target seeking, an actual–virtual target switching strategy resolves the problem of limit cycles in any type of dead-ends encountered on the way to the target. This is an advantage beyond pure fuzzy logic approach and common virtual target techniques. In this work, multiple traps may have any shape or arrangement from barriers forming simple corners and U-shape dead-ends to loops, maze, snail shape, and other complicated shapes. Robot trajectories are demonstrated by simulation work and compared with results from other related methods to prove the robustness of this method.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Fuzzy Sets and Systems - Volume 160, Issue 13, 1 July 2009, Pages 1929-1946