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Fuzzy navigation strategy: application to two distinct autonomous mobile robots

Published online by Cambridge University Press:  01 November 1997

Mahieddine Benreguieg ,
Philippe Hoppenot ,
Hichem Maaref ,
Etienne Colle  and
Claude Barret
Mahieddine Benreguieg
Affiliation:
CEMIF - Complex Systems Group - University of Evry, 40 rue du Pelvoux, 91020 Evry Cedex, France. E-mail: benreguieg@cemif.univ-evry.fr
Philippe Hoppenot
Affiliation:
CEMIF - Complex Systems Group - University of Evry, 40 rue du Pelvoux, 91020 Evry Cedex, France. E-mail: benreguieg@cemif.univ-evry.fr
Hichem Maaref
Affiliation:
CEMIF - Complex Systems Group - University of Evry, 40 rue du Pelvoux, 91020 Evry Cedex, France. E-mail: benreguieg@cemif.univ-evry.fr
Etienne Colle
Affiliation:
CEMIF - Complex Systems Group - University of Evry, 40 rue du Pelvoux, 91020 Evry Cedex, France. E-mail: benreguieg@cemif.univ-evry.fr
Claude Barret
Affiliation:
CEMIF - Complex Systems Group - University of Evry, 40 rue du Pelvoux, 91020 Evry Cedex, France. E-mail: benreguieg@cemif.univ-evry.fr
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Abstract

Most motion controls of mobile robots are based on the classical scheme of planning-navigation-piloting. The navigation function, the main part of which consists in obstacle avoidance, has to react with the shortest response time. The real-time constraint hardly limits the complexity of sensor data processing. The described navigator is built around fuzzy logic controllers. Besides the well-known possibility of taking into account human know-how, the approach provides several contributions: a low sensitivity to erroneous or inaccurate measures and, if the inputs of the controllers are normalised, an effective portability on various platform. To show these advantages, the same fuzzy navigator has been implemented on two mobile robots. Their mechanical structures are close, except for size and the sensing system.

Keywords

Fuzzy navigationMobile robotsControlsEnvironment
Type
Research Article
Information
Robotica , Volume 15 , Issue 6 , November 1997 , pp. 609 - 615
Copyright
© 1997 Cambridge University Press

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