Robot´s motion decision-making system in unknown environment and its application to a mobile robot

Author

Boonphoapichart, Somchai ; Komada, Satoshi ; Hori, Takamasa

Author_Institution

Dept. Electr. & Electron. Eng., Mie Univ., Japan

Volume

1

fYear

2002

fDate

2002

Firstpage

18

Abstract

A fuzzy decision-making system, which is developed from a fuzzy decision-making method and an autonomous functional architecture, for multi-objective robots motion planning and control is described. The system is applied to an omni-directional mobile robot with active stereo cameras capable of panoramic viewing. The mobile robot can be commanded to move to a target point through an unknown environment while satisfying multiple goals and constraints. The advantages of the proposed system are confirmed by simulation experiments.

Keywords

decision making; fuzzy logic; fuzzy set theory; mobile robots; motion control; path planning; active stereo cameras; autonomous functional architecture; fuzzy decision-making system; motion control; motion decision-making system; multi-objective motion planning; omni-directional mobile robot; panoramic viewing; unknown environment; Cameras; Control systems; Decision making; Fuzzy control; Fuzzy systems; Mobile robots; Motion control; Motion planning; Robot motion; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2002. IEEE ICIT '02. 2002 IEEE International Conference on

Print_ISBN

0-7803-7657-9

Type

conf

DOI

10.1109/ICIT.2002.1189852

Filename

1189852