Title :
A highly parallel method for mapping and navigation of an autonomous mobile robot
Author :
Siemiatkowska, Barbara
Author_Institution :
Lab. of Adaptive Syst., Inst. of Fundamental Technol. Res., Warsaw, Poland
Abstract :
The paper presents a highly parallel method for mapping and navigation. The mapping module is based on the fuzzy logic aggregation scheme. Path planning is made using the diffusion method. The algorithm can be applied for any kind of sensors. The experiments show not only the ability of the robot to achieve collision free path towards the goal in the explored environment but also in area not visited before. We applied the fuzzy controller to compute parameters (velocity, acceleration, etc.) of the robot motion
Keywords :
fuzzy control; fuzzy logic; mobile robots; motion control; navigation; path planning; autonomous mobile robot; collision free path; data filtering; diffusion method; fuzzy control; fuzzy logic aggregation; mapping; mapping module; motion control; navigation; parallel method; path planning; Filtering; Laboratories; Mobile robots; Motion control; Navigation; Path planning; Robot sensing systems; Sonar detection; Sonar measurements; Uncertainty;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350915
