Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Dispersion Managed Optical Links with Randomly Distributed Residual Dispersion Per Span for 960 Gbps WDM Transmission Read chapter Read first chapter

2013 | OriginalPaper | Chapter

99. Command Fusion Based Fuzzy Controller Design for Moving Obstacle Avoidance of Mobile Robot

Authors : Hyunjin Chang, Taeseok Jin

Published in: Future Information Communication Technology and Applications

Publisher: Springer Netherlands

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

In this paper, we proposed a fuzzy inference model for navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using sensor fusion, based on situational command using an ultrasonic sensor. Instead of using “physical sensor fusion” method which generates the trajectory of a robot based upon the environment model and sensory data, “command fusion” method is used to govern the robot motions. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter A New Criterion of Mutual Information Using R-value
next chapter The Consideration of GPS Jamming Signal Due to Propagation Path Loss
Literature
1.
Er M, Tan TP, Loh SY (2004) Control of a mobile robot using generalized dynamic fuzzy neural networks. Microprocess Microsyst 28:491–498CrossRef
2.
Zadeh LA (1973) Outline of a new approach to the analysis of complex systems and decision processes. IEEE Trans Syst Man Cybern 3(1):28–44MathSciNetMATHCrossRef
3.
Nair D, Aggarwal JK (1998) Moving obstacle detection from a navigation robot. IEEE Trans Robot Autom 14(3):404–416
4.
Bentalba S, ElHajjaji A, Tachid A (1997) Fuzzy control of a mobile robot: a new approach. In: IEEE international conference on control applications, pp 69–72
5.
Furuhashi T, Nakaoka K, Morikawa K, Maeda H, Uchikawa Y (1995) A study on knowledge finding using fuzzy classifier system. J Jpn Soc Fuzzy Theory Syst 7(4):839–848
6.
Itani H, Furuhashi T (2002) A study on teaching information understanding by autonomous mobile robot. Trans SICE 38(11):966–973
7.
Beom HR, Cho HS (1995) A sensor-based navigation for a mobile robot using fuzzy logic and reinforcement learning. IEEE Trans Syst Man Cybern 25(3):464–477
8.
Ohya A, Kosaka A, Kak A (1998) Vision-based navigation by a mobile robot with obstacle avoidance using single-camera vision and ultrasonic sensing. IEEE Trans Robot Autom 14(6):969–978CrossRef
9.
Tunstel E (2000) Fuzzy-behavior synthesis, coordination, and evolution in an adaptive behavior hierarchy. In: Saffiotti A, Driankov D (eds) Fuzzy logic techniques for autonomous 470 Tunstel, de Oliveira, and Berman vehicle navigation, studies in fuzziness and soft computing (chapter 9). Springer-Verlag, Heidelberg
10.
Mehrjerdi H, Saad M, Ghommam J (2011) Hierarchical fuzzy cooperative control and path following for a team of mobile robots. IEEE/ASME Trans Mechatron 16(5):907–917CrossRef
11.
Wang DS, Zhang YS, Si WJ (2011) Behavior-based hierarchical fuzzy control for mobile robot navigation in dynamic environment. In: 2011 Chinese control and decision conference (CCDC), pp 2419–2424
12.
Jouffe L (1998) Fuzzy inference system learning by reinforcement method. IEEE Trans Syst Man Cybern Part C 28(3):338–355
13.
Leng G, McGinnity TM, Prasad G (2005) An approach for on-line extraction of fuzzy rules using a self-organising fuzzy neural network. Fuzzy Sets Syst 150:211–243MathSciNetMATHCrossRef
14.
Nishina T, Hagiwara M (1997) Fuzzy inference neural network. Neurocomputing 14:223–239CrossRef
15.
Takahama T, Sakai S, Ogura H, Nakamura M (1996) Learning fuzzy rules for bang–bang control by reinforcement learning method. J Jpn Soc Fuzzy Theory Syst 8(1):115–122
16.
Tunstel E (1999) Fuzzy behavior modulation with threshold activation for autonomous vehicle navigation. In: 18th international conference of the North American fuzzy information processing society, New York, pp 776–780
Metadata
Title
Command Fusion Based Fuzzy Controller Design for Moving Obstacle Avoidance of Mobile Robot
Authors
Hyunjin Chang
Taeseok Jin
Copyright Year
2013
Publisher
Springer Netherlands
Book
Future Information Communication Technology and Applications

Print ISBN: 978-94-007-6515-3

Electronic ISBN: 978-94-007-6516-0

Copyright Year: 2013

DOI
https://doi.org/10.1007/978-94-007-6516-0_99