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A mobile robot navigation method using a fuzzy logic approach

Published online by Cambridge University Press:  09 March 2009

Bertrand Beaufrere  and
Saïd Zeghloul
Bertrand Beaufrere
Affiliation:
Laboratoire de Mécanique des Solides (U.R.A. 861), Université de Poitiers, 40, Avenue du Recteur Pineau, 86022 Poitiers Cedex (France)
Saïd Zeghloul
Affiliation:
Laboratoire de Mécanique des Solides (U.R.A. 861), Université de Poitiers, 40, Avenue du Recteur Pineau, 86022 Poitiers Cedex (France)
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Summary

This paper treats, in a general way, the problem of mobile robot navigation in a totally unknown environment. The different aspects of this problem are dealt with one by one. We begin by introducing a simple method for perceiving and analyzing the robot's local environment based on a limited amount of distance information. Using this analysis as our base, we present a navigation algorithm containing different action modules; some of these actions use Fuzzy Logic. The results presented whether experimental or simulation show that our method is well adapted to this type of problem.

Keywords

Autonomous mobile robotFuzzy logicNavigationObstacle avoidance

Information

Type
Articles
Information
Robotica , Volume 13 , Issue 5 , September 1995 , pp. 437 - 448
Copyright
Copyright © Cambridge University Press 1995

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