Title :
A novel intelligent technique for mobile robot navigation
Author :
Yang, X. ; Moallem, M. ; Patel, R.V.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, Ont., Canada
Abstract :
In this paper, we develop and implement a novel navigation algorithm for a mobile robot system combining a fuzzy-logic architecture with a Virtual Centrifugal Effect Algorithm (VCEA). The resulting navigation system endows the robot with the ability of negotiating an approaching obstacle, thus leading to a graceful and smooth avoidance behavior in a dynamic environment. This navigation system has been implemented on a real mobile robot, Koala, and tested in various environments. Experimental results are presented which demonstrate the effectiveness of the proposed algorithm.
Keywords :
collision avoidance; fuzzy logic; intelligent control; mobile robots; navigation; virtual reality; collision avoidance; fuzzy logic; fuzzy logic architecture; mobile robot system; novel intelligent technique; obstacle-avoidance; robot navigation; virtual centrifugal effect algorithm; Computer architecture; Fuzzy logic; Humans; Intelligent robots; Mobile robots; Motion planning; Navigation; Path planning; Real time systems; System testing;
Conference_Titel :
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN :
0-7803-7729-X
DOI :
10.1109/CCA.2003.1223518
