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Fuzzy logic based collision avoidance for a mobile robot

Published online by Cambridge University Press:  09 March 2009

Angelo Martinez ,
Eddie Tunstel  and
Mo Jamshidi
Angelo Martinez
Affiliation:
CAD Laboratory for Intelligent and Robotic Systems, Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM 87131 (USA)
Eddie Tunstel
Affiliation:
CAD Laboratory for Intelligent and Robotic Systems, Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM 87131 (USA)
Mo Jamshidi
Affiliation:
CAD Laboratory for Intelligent and Robotic Systems, Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM 87131 (USA)
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Summary

Navigation and collision avoidance are major areas of research in mobile robotics that involve varying degrees of uncertainty. In general, the problem consists of achieving sensor based motion control of a mobile robot among obstacles in structured and/or unstructured environments with collision-free motion as the priority. A fuzzy logic based intelligent control strategy has been developed here to computationally implement the approximate reasoning necessary for handling the uncertainty inherent in the collision avoidance problem. The fuzzy controller was tested on a mobile robot system in an indoor environment and found to perform satisfactorily despite having crude sensors and minimal sensory feedback.

Keywords

Fuzzy logicCollision avoidanceMobile robotNavigation
Type
Articles
Information
Robotica , Volume 12 , Issue 6 , November 1994 , pp. 521 - 527
Copyright
Copyright © Cambridge University Press 1994

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