Fuzzy control of unknown-obstacle avoidance for mobile robots

Chih Keng Chen, Jian Da Wu, Chen Yu Wang

Research output: Contribution to journalArticle

Abstract

A path-following control strategy for a mobile robot with unknown obstacles being detected on the planned path is investigated. For a given space with known obstacles, the path-planning methods can generate the shortest collision-free path from the beginning to the end. In a real environment, the unknown obstacles may appear on the planned path, after that the mobile robot may not follow the original path. In this research, an obstacle-avoidance mode is added into the original path-following controller. The signals from five distance measurement sensors on the mobile robot can be used to guide it successfully. Computer simulations are given to verify the proposed algorithm. We find that various locations and directions of the distance sensors can affect the results.

Original languageEnglish
Pages (from-to)31-39
Number of pages9
JournalJournal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao
Volume25
Issue number1
Publication statusPublished - 2004 Feb 1

Fingerprint

Collision avoidance
Fuzzy control
Mobile robots
Distance measurement
Sensors
Motion planning
Controllers
Computer simulation

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

@article{8bcee2884c4642ed9c426fed57bf3d8d,
title = "Fuzzy control of unknown-obstacle avoidance for mobile robots",
abstract = "A path-following control strategy for a mobile robot with unknown obstacles being detected on the planned path is investigated. For a given space with known obstacles, the path-planning methods can generate the shortest collision-free path from the beginning to the end. In a real environment, the unknown obstacles may appear on the planned path, after that the mobile robot may not follow the original path. In this research, an obstacle-avoidance mode is added into the original path-following controller. The signals from five distance measurement sensors on the mobile robot can be used to guide it successfully. Computer simulations are given to verify the proposed algorithm. We find that various locations and directions of the distance sensors can affect the results.",
author = "Chen, {Chih Keng} and Wu, {Jian Da} and Wang, {Chen Yu}",
year = "2004",
month = "2",
day = "1",
language = "English",
volume = "25",
pages = "31--39",
journal = "Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao",
issn = "0257-9731",
publisher = "Chinese Mechanical Engineering Society",
number = "1",

}

TY - JOUR

T1 - Fuzzy control of unknown-obstacle avoidance for mobile robots

AU - Chen, Chih Keng

AU - Wu, Jian Da

AU - Wang, Chen Yu

PY - 2004/2/1

Y1 - 2004/2/1

N2 - A path-following control strategy for a mobile robot with unknown obstacles being detected on the planned path is investigated. For a given space with known obstacles, the path-planning methods can generate the shortest collision-free path from the beginning to the end. In a real environment, the unknown obstacles may appear on the planned path, after that the mobile robot may not follow the original path. In this research, an obstacle-avoidance mode is added into the original path-following controller. The signals from five distance measurement sensors on the mobile robot can be used to guide it successfully. Computer simulations are given to verify the proposed algorithm. We find that various locations and directions of the distance sensors can affect the results.

AB - A path-following control strategy for a mobile robot with unknown obstacles being detected on the planned path is investigated. For a given space with known obstacles, the path-planning methods can generate the shortest collision-free path from the beginning to the end. In a real environment, the unknown obstacles may appear on the planned path, after that the mobile robot may not follow the original path. In this research, an obstacle-avoidance mode is added into the original path-following controller. The signals from five distance measurement sensors on the mobile robot can be used to guide it successfully. Computer simulations are given to verify the proposed algorithm. We find that various locations and directions of the distance sensors can affect the results.

UR - http://www.scopus.com/inward/record.url?scp=5644243487&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=5644243487&partnerID=8YFLogxK

M3 - Article

VL - 25

SP - 31

EP - 39

JO - Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao

JF - Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao

SN - 0257-9731

IS - 1

ER -