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A mobile robot navigation method using a fuzzy logic approach

Published online by Cambridge University Press:  09 March 2009

Bertrand Beaufrere
Affiliation:
Laboratoire de Mécanique des Solides (U.R.A. 861), Université de Poitiers, 40, Avenue du Recteur Pineau, 86022 Poitiers Cedex (France)
Saïd Zeghloul
Affiliation:
Laboratoire de Mécanique des Solides (U.R.A. 861), Université de Poitiers, 40, Avenue du Recteur Pineau, 86022 Poitiers Cedex (France)

Summary

This paper treats, in a general way, the problem of mobile robot navigation in a totally unknown environment. The different aspects of this problem are dealt with one by one. We begin by introducing a simple method for perceiving and analyzing the robot's local environment based on a limited amount of distance information. Using this analysis as our base, we present a navigation algorithm containing different action modules; some of these actions use Fuzzy Logic. The results presented whether experimental or simulation show that our method is well adapted to this type of problem.

Type
Articles
Copyright
Copyright © Cambridge University Press 1995

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