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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| creator | Boujelben, Maissa Rekik, Chokri Derbel, Nabil |
| description | 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. |
| doi_str_mv | 10.1109/SSD.2013.6564094 |
| format | Conference Proceeding |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Autonomous navigation Collision avoidance Fuzzy logic Fuzzy systems Hierarchical fuzzy system Mobile obstacle Mobile robot Mobile robots Obstacle avoidance Robot sensing systems |
| title | Hierarchical fuzzy controller to avoid mobile obstacle for a mobile robot |
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