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Motion planning for mobile robots using a fuzzy layered goal-oriented approach

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3 Author(s)
X. Yang ; Dept. of Electr. & Comput. Eng., Western Ontario Univ., London, Ont. ; M. Moallem ; R. V. Patel

In this paper, a layered goal-oriented motion planning strategy using fuzzy logic is developed for a mobile robot navigating in an unknown environment. Information about the global goal and long-range sensory data are used by the first layer of the planner to produce an intermediate goal, referred to as the way-point that gives an optimal direction in terms of seeking the goal within the detected area. The second layer of the planner takes this way-point as a sub-goal and, using short-range sensory data, guides the robot to reach the sub-goal while avoiding collisions. In this approach, there is no assumption about the environment Due to its simplicity and capability for real-time implementation, fuzzy logic has been used for the proposed motion planning strategy. The resulting navigation system is implemented on a real mobile robot, Koala, and tested in various environments. Experimental results are presented which demonstrate the effectiveness of the proposed fuzzy navigation system

Published in:

Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.

Date of Conference:

28-31 Aug. 2005