{"title":"混沌环境下移动机器人导航的优化模糊控制器","authors":"Najah Yousfi, C. Rekik, M. Jallouli, N. Derbel","doi":"10.1109/SSD.2010.5585508","DOIUrl":null,"url":null,"abstract":"Obstacle avoidance and path planning are the most important problems in mobile robots. In this paper, a fuzzy logic controller has been constructed in order to train an intelligent robot. Gradient method is used to optimize consequences of a Sugeno fuzzy logic controller for the mobile robot navigation, in order to reach a target in a clutterd environment. Not only simulation results are shown in this paper, but also the “real-time” implementation has been realized onto the mini robot Khepera II. Simulation results verify successfully the application of the proposed method to real motion situations.","PeriodicalId":432382,"journal":{"name":"2010 7th International Multi- Conference on Systems, Signals and Devices","volume":"11 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"20","resultStr":"{\"title\":\"Optimized fuzzy controller for mobile robot navigation in a cluttered environment\",\"authors\":\"Najah Yousfi, C. Rekik, M. Jallouli, N. Derbel\",\"doi\":\"10.1109/SSD.2010.5585508\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Obstacle avoidance and path planning are the most important problems in mobile robots. In this paper, a fuzzy logic controller has been constructed in order to train an intelligent robot. Gradient method is used to optimize consequences of a Sugeno fuzzy logic controller for the mobile robot navigation, in order to reach a target in a clutterd environment. Not only simulation results are shown in this paper, but also the “real-time” implementation has been realized onto the mini robot Khepera II. Simulation results verify successfully the application of the proposed method to real motion situations.\",\"PeriodicalId\":432382,\"journal\":{\"name\":\"2010 7th International Multi- Conference on Systems, Signals and Devices\",\"volume\":\"11 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-06-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"20\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 7th International Multi- Conference on Systems, Signals and Devices\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SSD.2010.5585508\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 7th International Multi- Conference on Systems, Signals and Devices","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SSD.2010.5585508","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Optimized fuzzy controller for mobile robot navigation in a cluttered environment
Obstacle avoidance and path planning are the most important problems in mobile robots. In this paper, a fuzzy logic controller has been constructed in order to train an intelligent robot. Gradient method is used to optimize consequences of a Sugeno fuzzy logic controller for the mobile robot navigation, in order to reach a target in a clutterd environment. Not only simulation results are shown in this paper, but also the “real-time” implementation has been realized onto the mini robot Khepera II. Simulation results verify successfully the application of the proposed method to real motion situations.
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