Mobile robot safe navigation in unknown environment
This paper provides a mobile robot navigation strategy using fuzzy logic is developed for a two wheeled mobile robot in a static environment. The information about the target and the low-range sensory information are used by the controller to produce the commands that gives a favorable direction in...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
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IEEE
2012
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| _version_ | 1796973947370078208 |
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| author | Shayestegan, Mohsen Marhaban, Mohammad Hamiruce |
| author_facet | Shayestegan, Mohsen Marhaban, Mohammad Hamiruce |
| author_sort | Shayestegan, Mohsen |
| collection | UPM |
| description | This paper provides a mobile robot navigation
strategy using fuzzy logic is developed for a two wheeled mobile robot in a static environment. The information about the target and the low-range sensory information are used by the controller to produce the commands that gives a favorable direction in terms of reaching to the target within the collision detection. Furthermore, the mobile robot does not suffer from typical ushape environment by a planned local minimum trapping algorithm and also designed controller is easy to understand, simple, and not sensitive to the system model parameters. The resulting path, connecting a start point to a target position where in this method there is no information about the environment.
Due to its ability and effortlessness for real-time implementation, fuzzy controller has been used for the proposed navigation strategy. The resulting navigation system is implemented on the e-puck robot in Webots software, and tested in several environments. Simulation results are presented which show the effectiveness of the proposed fuzzy controller and local minimum
algorithm to safely navigate the mobile robot in various dead end trap environment. |
| first_indexed | 2024-03-06T08:50:03Z |
| format | Conference or Workshop Item |
| id | upm.eprints-41490 |
| institution | Universiti Putra Malaysia |
| last_indexed | 2024-03-06T08:50:03Z |
| publishDate | 2012 |
| publisher | IEEE |
| record_format | dspace |
| spelling | upm.eprints-414902016-01-28T02:54:07Z http://psasir.upm.edu.my/id/eprint/41490/ Mobile robot safe navigation in unknown environment Shayestegan, Mohsen Marhaban, Mohammad Hamiruce This paper provides a mobile robot navigation strategy using fuzzy logic is developed for a two wheeled mobile robot in a static environment. The information about the target and the low-range sensory information are used by the controller to produce the commands that gives a favorable direction in terms of reaching to the target within the collision detection. Furthermore, the mobile robot does not suffer from typical ushape environment by a planned local minimum trapping algorithm and also designed controller is easy to understand, simple, and not sensitive to the system model parameters. The resulting path, connecting a start point to a target position where in this method there is no information about the environment. Due to its ability and effortlessness for real-time implementation, fuzzy controller has been used for the proposed navigation strategy. The resulting navigation system is implemented on the e-puck robot in Webots software, and tested in several environments. Simulation results are presented which show the effectiveness of the proposed fuzzy controller and local minimum algorithm to safely navigate the mobile robot in various dead end trap environment. IEEE 2012 Conference or Workshop Item NonPeerReviewed Shayestegan, Mohsen and Marhaban, Mohammad Hamiruce (2012) Mobile robot safe navigation in unknown environment. In: IEEE International Conference on Control System, Computing and Engineering 2012, 23-25 Nov. 2012, Penang, Malaysia. (pp. 44-49). 10.1109/ICCSCE.2012.6487113 |
| spellingShingle | Shayestegan, Mohsen Marhaban, Mohammad Hamiruce Mobile robot safe navigation in unknown environment |
| title | Mobile robot safe navigation in unknown environment |
| title_full | Mobile robot safe navigation in unknown environment |
| title_fullStr | Mobile robot safe navigation in unknown environment |
| title_full_unstemmed | Mobile robot safe navigation in unknown environment |
| title_short | Mobile robot safe navigation in unknown environment |
| title_sort | mobile robot safe navigation in unknown environment |
| work_keys_str_mv | AT shayesteganmohsen mobilerobotsafenavigationinunknownenvironment AT marhabanmohammadhamiruce mobilerobotsafenavigationinunknownenvironment |