We are currently experiencing intermittent issues impacting performance. We apologize for the inconvenience.
By Topic

Sensor-based fuzzy reactive navigation of a mobile robot through local target switching

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Xu, W.L. ; Inst. of Technol. & Eng., Massey Univ., Palmerston North, New Zealand ; Tso, S.K.

Fuzzy reactive control, incorporating a local target switching scheme, is applied to the automatic navigation of an intelligent mobile robot in an unknown and changing environment. Sensed-ranging signals and relative target position signals are input to the fuzzy controller. The steering angle and the velocity change are inferred to drive the mobile robot. A reactive rule base governing the robot behavior is synthesized from the human heuristics with respect to various situations of environment. A local target switching scheme is proposed to serve as a front-end processor of the fuzzy active controller and to deal with the local trapping and wandering cycle problem in the navigation of a behavior based mobile robot. The algorithm is described, together with some particular considerations about implementation. Efficiency and effectiveness of the proposed approach are verified through simulation and experiments conducted on a Nomad 200 mobile robot

Published in:

Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on  (Volume:29 ,  Issue: 3 )