DocumentCode
2248000
Title
Robot motion decision-making system in unknown environments
Author
Boonphoapichart, S. ; Komada, S. ; Hori, T. ; Gruver, W.A.
Author_Institution
Dept. of Electr. & Electron. Eng., Mie Univ., Tsu, Japan
Volume
3
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
4197
Abstract
A fuzzy decision-making system for multi-criteria robot motion planning and control is described for a constant speed omni-directional mobile robot with active stereo cameras capable of panoramic viewing. The robot can be commanded to move to a target point through an unknown environment while satisfying multiple criteria. Advantages of the proposed method are confirmed by simulation. A multi-agent approach is also described for path planning with multiple robots.
Keywords
decision making; fuzzy systems; mobile robots; motion control; multi-agent systems; multi-robot systems; path planning; robot vision; fuzzy decision-making system; multiagent system; multicriteria robot motion planning; multiple robots; omnidirectional mobile robot; panoramic viewing; path planning; robot motion control; stereo cameras; Cameras; Control systems; Decision making; Fuzzy control; Fuzzy systems; Mobile robots; Motion control; Motion planning; Robot motion; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1242248
Filename
1242248
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