Title :
Autonomous Dead-Reckoning Mobile Robot Navigation System With Intelligent Precision Calibration
Author :
Miah, Md Suruz ; Gueaieb, Wail ; Rahman, Md Abdur ; El Saddik, Abdulmotaleb
Author_Institution :
Ottawa Univ., Ottawa
Abstract :
An open hardware architecture for a goal-oriented indoor mobile robot navigation based on corrected odometry information using fuzzy logic controller is presented in this paper. The proposed approach exploits the ability of mobile robots to navigate in unstructured, cluttered and potentially hostile environments using calibrated odometry information, proximity sensor data and a fuzzy logic engine. A key advantage to this technique is its simplicity over similar navigation systems discussed in the literature. The simplification stems from the fact that only the previous traveled position of the robot needs to be tracked to reach to the target position. The superiority of this technique is supported by the experimental results that were collected for this purpose.
Keywords :
calibration; distance measurement; fuzzy control; mobile robots; navigation; path planning; autonomous dead-reckoning mobile robot navigation system; calibrated odometry information; fuzzy logic controller; fuzzy logic engine; goal-oriented indoor mobile robot navigation; intelligent precision calibration; proximity sensor data; Calibration; Engines; Fuzzy logic; Hardware; Intelligent robots; Intelligent systems; Mobile robots; Navigation; Robot sensing systems; Target tracking; Fuzzy logic; dead-reckoning navigation; mobile robot;
Conference_Titel :
Instrumentation and Measurement Technology Conference Proceedings, 2007. IMTC 2007. IEEE
Conference_Location :
Warsaw
Print_ISBN :
1-4244-0588-2
DOI :
10.1109/IMTC.2007.379157