[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()

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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

Author(s):

Gao Ming;  Song Aiguo

School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China

Keywords:

mobile robot;  path tracking;  obstacle avoidance;  fuzzy logic;  finite state machine

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.

References:

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[4] Yang X, Moallem M, Patel R V. An improved fuzzy-logic-based navigation system for mobile robots [C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Las Vegas, USA, 2003: 1709-1714.
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[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.
[9] Zhu Anmin, Yang S X. A fuzzy logic approach to reactive navigation of behavior-based mobile robots [C]//Proceedings of IEEE International Conference on Robotics and Automation. New Orleans, LA, USA, 2004: 5045-5050.

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.

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