scholarly journals Motion Planning for Obstacle Avoidance of the Mobile Robot using Hierarchical Fuzzy Rules

1993 ◽  
Vol 113 (7) ◽  
pp. 535-542
Author(s):  
Takeshi Aoki ◽  
Yuji Iwata ◽  
Tatsuya Suzuki ◽  
Shigeru Okuma
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Obstacle Avoidance ◽  
Fuzzy Rules

Development of Autonomous Mobile Robot for Obstacle Avoidance

1993 ◽  
Vol 5 (5) ◽  
pp. 481-486 ◽  
Author(s):  
Masafumi Uchida ◽  
◽  
Syuichi Yokoyama ◽  
Hideto Ide ◽  
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Potential Method ◽  
Working Environment ◽  
Planning Problem ◽  
Autonomous Mobile Robot ◽  
The Real

The potential method is superior for solving the problem of motion planning; however, it must address the problem of the real-time generation of potential field. Obstacle avoidance is a motion planning problem. In a previous study, we investigated the real-time generation of potential field. Based on parallel processing with element group, we proposed the system by Sensory Point Moving (SPM) method. As a result of computer simulation, it was confirmed that the SPM method is effective for generating an obstacle avoidance path in 2-D and a more complex working environment like a 3-D one. In this paper, we discuss the development of autonomous mobile robot for obstacle avoidance based on the SPM method.

Autonomous omnidirectional mobile robot navigation based on hierarchical fuzzy systems

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Najla Krichen ◽  
Mohamed Slim Masmoudi ◽  
Nabil Derbel
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Fuzzy Systems ◽  
Fuzzy Controller ◽  
Fuzzy Rules ◽  
Infrared Sensors ◽  
Content Type ◽  
Omnidirectional Mobile Robot ◽  
Simulation Results ◽  
Hierarchical Fuzzy Systems

Purpose This paper aims to propose a one-layer Mamdani hierarchical fuzzy system (HFS) to navigate autonomously an omnidirectional mobile robot to a target with a desired angle in unstructured environment. To avoid collision with unknown obstacles, Mamdani limpid hierarchical fuzzy systems (LHFS) are developed based on infrared sensors information and providing the appropriate linear speed controls. Design/methodology/approach The one-layer Mamdani HFS scheme consists of three fuzzy logic units corresponding to each degree of freedom of the holonomic mobile robot. This structure makes it possible to navigate with an optimized number of rules. Mamdani LHFS for obstacle avoidance consists of a number of fuzzy logic units of low dimension connected in a hierarchical structure. Hence, Mamdani LHFS has the advantage of optimizing the number of fuzzy rules compared to a standard fuzzy controller. Based on sensors information inputs of the Mamdani LHFS, appropriate linear speed controls are generated to avoid collision with static obstacles. Findings Simulation results are performed with MATLAB software in interaction with the environment test tool “Robotino Sim.” Experiments have been done on an omnidirectional mobile robot “Robotino.” Simulation results show that the proposed approaches lead to satisfied performances in navigation between static obstacles to reach the target with a desired angle and have the advantage that the total number of fuzzy rules is greatly reduced. Experimental results prove the efficiency and the validity of the proposed approaches for the navigation problem and obstacle avoidance collisions. Originality/value By comparing simulation results of the proposed Mamdani HFS to another navigational controller, it was found that it provides better results in terms of path length in the same environment. Moreover, it has the advantage that the number of fuzzy rules is greatly reduced compared to a standard Mamdani fuzzy controller. The use of Mamdani LHFS in obstacle avoidance greatly reduces the number of involved fuzzy rules and overcomes the complexity of high dimensionality of the infrared sensors data information.

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