Mobile robot control based on fuzzy behavior and robot safety body in unknown environment

Author

Yili, Fu ; Hongyan, Xu ; Shuguo, Wang ; Jianguo, Liu ; He, Xu ; Han, Li

Author_Institution

Dept. of Mech. Eng., Harbin Inst. of Technol., China

fYear

2005

fDate

27-30 June 2005

Firstpage

547

Lastpage

552

Abstract

Based on the analysis of unknown environment for mobile robot, a robot safety body, sensing body and logic body are put forward with the robot physical body together. An open fuzzy behavior-based control architecture is then proposed on the basis of robot safety body for mobile robots in complex and unstructured environments. Many sensors in various kinds are used to localize and navigate with fuzzification on target information, obstacle information and local terrain. Finally, lots of experiments of our mobile robot are carried out in many kinds of man-made complex environments, and the control architecture and the robot safety body with our robot is proved valid, which give a solid support for our further research for mobile robot in unknown environments.

Keywords

fuzzy control; mobile robots; sensors; fuzzification; fuzzy behavior; local terrain; logic body; man-made complex environments; mobile robot control; obstacle information; open fuzzy behavior-based control architecture; robot physical body; robot safety body; sensing body; target information; unknown environment; Fuzzy control; Fuzzy logic; Intelligent agent; Intelligent control; Intelligent sensors; Mobile robots; Navigation; Robot control; Robot sensing systems; Safety; Fuzry behavior-based architecture; Mobile robot; Robot safety body; Unknown environment;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on

Print_ISBN

0-7803-9355-4

Type

conf

DOI

10.1109/CIRA.2005.1554334

Filename

1554334