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
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;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242248
