Title :
Intelligent fuzzy motion control of mobile robot for service use
Author :
Ulyanov, S.V. ; Yamafuji, K. ; Miyagawa, K. ; Tanaka, T. ; Fukuda, T.
Author_Institution :
Univ. of Electro-Commun., Tokyo, Japan
Abstract :
The intelligent mobile robot for service use with manipulators are moved in unstructured environments. Strategy for planning, environment recognition using two kinds of sensors and locomotion control to realize autonomous locomotion of the mobile robot are described. Fuzzy qualitative simulation, GA and hierarchical node map have revealed their effectiveness for path planning of the mobile robots. The results of fuzzy robot control simulation, monitoring and experimental investigations are presented
Keywords :
fuzzy control; intelligent control; mobile robots; path planning; GA; autonomous locomotion; environment recognition; fuzzy qualitative simulation; genetic algorithms; hierarchical node map; intelligent fuzzy motion control; locomotion control; manipulators; mobile robot; planning strategy; unstructured environments; Fuzzy control; Intelligent control; Intelligent robots; Intelligent sensors; Manipulators; Mobile robots; Motion control; Motion planning; Sensor phenomena and characterization; Strategic planning;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.525929
