Title :
Navigation of a mobile robot with fuzzy segments
Author :
Martínez, Humberto ; Zamora, Miguel A. ; Skarmenta, Antonio G.
Author_Institution :
Dept. de Ingenieria de la Informacion y las Comunicaciones, Murcia Univ., Spain
Abstract :
This paper outlines the problem of a mobile robot navigating in an unknown environment. This is solved in a two step process by the application of two navigation techniques. In the first step a fuzzy grid map is applied for the map-building problem, and an A* search method is applied for the path-planning problem. In the second step a fuzzy segments map is applied for the map-building and localisation problems. Some results in both simulator and real robot are presented.
Keywords :
fuzzy logic; mobile robots; navigation; path planning; A* search method; fuzzy grid map; fuzzy segments; fuzzy segments map; localisation problems; map-building problem; mobile robot navigation; path-planning problem; real robot; simulator; two step process; Frequency; Fuzzy logic; Mobile robots; Navigation; Neural networks; Path planning; Robot sensing systems; Search methods; Sensor systems; Sonar;
Conference_Titel :
Fuzzy Systems, 2001. The 10th IEEE International Conference on
Print_ISBN :
0-7803-7293-X
DOI :
10.1109/FUZZ.2001.1009022
