Designing an adaptive path execution system

John Yen, Nathan Pfluger

Research output: Contribution to journalConference articlepeer-review

6 Scopus citations

Abstract

The goal of this research was to develop a fully functional robot in a dynamic environment. The approach to this problem is to plan a path for the robot to move from a starting point to a goal point using a map that may not have all the current information on the environment. The controller then dynamically reacts in an intelligent fashion to unplanned obstacles along the path. This system attempts to follow the path, adapting its course to the obstacles and shortcuts it perceives along the way. The key element of the approach is in using fuzzy logic to express and manipulate concepts needed for intelligent control. The robot only uses information gathered from the sensors, and avoids dynamically placed obstacles near and along the path.

Original languageEnglish (US)
Pages (from-to)1459-1464
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume3
StatePublished - Dec 1 1991
EventConference Proceedings of the 1991 IEEE International Conference on Systems, Man, and Cybernetics - Charlottesville, VA, USA
Duration: Oct 13 1991Oct 16 1991

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Hardware and Architecture

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