Hierarchical fuzzy controller to avoid mobile obstacle for a mobile robot
In this paper, we have treated a mobile robot command problem in an unknown environment containing mobile obstacle. Firstly, we have considered that the environment is without obstacles and we have defined a fuzzy controller to orient the robot toward the target. Then, we have supposed that the envi...
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Format: | Tagungsbericht |
Sprache: | eng |
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Zusammenfassung: | In this paper, we have treated a mobile robot command problem in an unknown environment containing mobile obstacle. Firstly, we have considered that the environment is without obstacles and we have defined a fuzzy controller to orient the robot toward the target. Then, we have supposed that the environment is dynamic (the existence of a moving obstacle), and we have proposed a new method for commanding the robot to the target with obstacle avoidance. This method uses hierarchical fuzzy systems. Simulation results show that the used method is powerful and effective. |
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DOI: | 10.1109/SSD.2013.6564094 |