Fuzzy logic based robot navigation in uncertain environments by multisensor integration

Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI:10.1109/MFI.1994.398444

Wei Li

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引用次数: 43

Abstract

This paper presents a strategy for fuzzy logic based robot navigation in uncertain environments by multisensor integration. The main idea of the study is to coordinate conflicts and competitions among multiple reactive behaviors efficiently by fuzzy sets and a rule base. To achieve this objective, an array of ultrasonic sensors and a vision system are mounted on a mobile robot. The ultrasonic sensors provide distance information between the robot and obstacles for behavior control of the mobile robot, while the vision system identifies some subgoals for determining a good motion direction to avoid robot trap in local region. The simulation results show that the proposed strategy, by integrating ultrasonic sensors and the vision system, can be efficiently applied to robot navigation in complex and uncertain environments by using different behaviors, such as avoiding obstacles, decelerating at curved and narrow roads, escaping from a U-shaped object, and moving to a target.<>

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基于模糊逻辑的多传感器不确定环境下机器人导航

提出了一种基于模糊逻辑的机器人在不确定环境下多传感器集成导航策略。该研究的主要思想是利用模糊集和规则库有效地协调多个反应行为之间的冲突和竞争。为了实现这一目标，在移动机器人上安装了超声波传感器阵列和视觉系统。超声波传感器提供机器人与障碍物之间的距离信息，用于移动机器人的行为控制;视觉系统识别子目标，确定良好的运动方向，避免机器人在局部区域陷入陷阱。仿真结果表明，将超声传感器与视觉系统相结合的导航策略可以有效地应用于复杂不确定环境下的机器人导航中，该策略采用了避开障碍物、在弯道和狭窄道路上减速、逃离u型物体和向目标移动等不同行为。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems

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