[1] Gao Ming, Song Aiguo,. Design of intelligent controller for mobile robot based on fuzzy logic [J]. Journal of Southeast University (English Edition), 2010, 26 (1): 62-67. [doi:10.3969/j.issn.1003-7985.2010.01013]
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Design of intelligent controller for mobile robot based on fuzzy logic(
)
基于模糊逻辑的移动机器人智能控制器设计
)Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]
- Volumn:
- 26
- Issue:
- 2010 1
- Page:
- 62-67
- Research Field:
- Automation
- Publishing date:
- 2010-03-30
Info
- Title:
- Design of intelligent controller for mobile robot based on fuzzy logic
- 基于模糊逻辑的移动机器人智能控制器设计
- Author(s):
- Gao Ming; Song Aiguo
- School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
- PACS:
- TP242
- DOI:
- 10.3969/j.issn.1003-7985.2010.01013
- Abstract:
- In order to improve a mobile robot’s autonomy in unknown environments, a novel intelligent controller is designed. The proposed controller is based on fuzzy logic with the aim of assisting a multi-sensor equipped mobile robot to safely navigate in an indoor environment. First, the designs of two behaviors for a robot’s autonomous navigation are described, including path tracking and obstacle avoidance, which emulate human driving behaviors and reduce the complexity of the robot’s navigation problems in unknown environments. Secondly, the two behaviors are combined by using a finite state machine(FSM), which ensures that the robot can safely track a predefined path in an unknown indoor environment. The inputs to this controller are the readings from the sensors. The corresponding output is the desired direction of the robot. Finally, both the simulation and experimental results verify the effectiveness of the proposed method.
- 为了提高移动机器人在未知环境下的自主性, 设计了一种基于模糊逻辑的智能控制器. 该控制器可以辅助装备多传感器的机器人在室内未知环境下安全地进行自主导航. 首先, 基于模糊逻辑设计了2种实现移动机器人智能导航的行为: 路径追踪行为和避障行为. 使用模糊逻辑的方法可以通过模仿人类驾驶经验, 降低移动机器人在未知环境下实现自主导航的复杂性. 然后, 利用有限状态机对2种行为进行融合, 以确保在未知的室内环境下机器人能够安全地追踪一条事先指定的路径. 控制器的输入为机器人的传感器数据, 输出为要求机器人运动的方向. 最后, 仿真和实验结果证实了该控制器的有效性.
References:
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[5] Matthies L, Xiong Y, Hogg R, et al. A portable, autonomous, urban reconnaissance robot [J]. Robotics and Autonomous Systems, 2002, 40(2/3): 163-172.
[6] Homayoun Seraji, Ayanna Howard. Behavior-based robot navigation on challenging terrain: a fuzzy logic approach [J]. IEEE Transactions on Robotics and Automation, 2002, 18(3): 308-321.
[7] Yang X, Moallem M, Patel R V. A layered goal-oriented fuzzy motion planning strategy for mobile robot navigation[J]. IEEE Transactions on Systems, Man, and Cybernetics, 2005, 35(6): 1214-1224.
[8] Chee Bing-Yung, Lang S Y T, Tse P W T. Fuzzy mobile robot navigation and sensor integration [C]//Proceedings of the 5th IEEE International Conference on Fuzzy System. New Orleans, LA, USA, 1996: 7-12.
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Memo
- Memo:
-
Biographies: Gao Ming(1985—), male, graduate; Song Aiguo(corresponding author), male, doctor, professor, a.g.song@seu.edu.cn.
Foundation item: Cultivation Fund for Innovation Project of Ministry of Education(No.708045).
Citation: Gao Ming, Song Aiguo. Design of intelligent controller for mobile robot based on fuzzy logic[J]. Journal of Southeast University(English Edition), 2010, 26(1): 62-67.