Title :
Coordination of behaviours for mobile robot floor cleaning
Author :
Lang, Sherman Y T ; Chee, Bing-Yung
Author_Institution :
Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Kowloon, Hong Kong
Abstract :
A fuzzy mobile robot area filling system designed to traverse the entire unknown environment is described in this paper. Such a system has a variety of applications such as vacuuming, lawn-mowing, polishing, crop harvesting, etc. It is also suitable for performing waste cleanup in hazardous environments where the area is inaccessible to humans. The robot is able to complete the cleaning task in unknown environments. Low level primitive fuzzy behaviours are integrated and coordinated with a state machine controller to achieve point to point navigation, obstacle avoidance and area filling
Keywords :
fuzzy set theory; mobile robots; path planning; surface cleaning; area filling; behaviour coordination; crop harvesting; fuzzy mobile robot area filling system; hazardous environments; lawn-mowing; low-level primitive fuzzy behaviours; mobile robot floor cleaning; obstacle avoidance; point-to-point navigation; polishing; state machine controller; unknown environment; vacuuming; waste cleanup; Cleaning; Crops; Filling; Fuzzy control; Fuzzy systems; Humans; Mobile robots; Navigation; Robot kinematics; Vacuum systems;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727468
