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Robot motion decision-making system in unknown environments

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4 Author(s)
Boonphoapichart, S. ; Dept. of Electr. & Electron. Eng., Mie Univ., Tsu, Japan ; Komada, S. ; Hori, T. ; Gruver, W.A.

A fuzzy decision-making system for multi-criteria robot motion planning and control is described for a constant speed omni-directional mobile robot with active stereo cameras capable of panoramic viewing. The robot can be commanded to move to a target point through an unknown environment while satisfying multiple criteria. Advantages of the proposed method are confirmed by simulation. A multi-agent approach is also described for path planning with multiple robots.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference:

14-19 Sept. 2003