Mobile robot motion control by means of fuzzy rules
Abstract eng: This paper deals with an application of a fuzzy expert system to autonomous mobile robot control. In the first part, we describe the process of developing a fuzzy expert system, consisting of introducing input and output variables, defining linguistic values and the corresponding fuzzy sets, designing fuzzy rules, choosing an inference engine and defuzzification method. The next part provides an example of applying this fuzzy expert system to solving a partial task of local robot navigation, which involves reaching a given goal without collision with unknown obstacles. For simplicity, we assume only convex obstacles the distances of which are sufficient for the robot to pass. Finally, we outline the possibilities of a further development of the implemented system.
Contributors:
Publisher:
Institute of Thermomechanics AS CR, v.v.i., Prague
Conference Title:
Conference Title:
Engineering Mechanics 2004
Conference Venue:
Svratka (CZ)
Conference Dates:
2004-05-10 / 2004-05-13
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2014-11-14, last modified 2014-11-18
guest ::
