Using fuzzy logic in a mobile robot path controller

John Yen, Nathan Pfluger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A successful mobile robot system must have the ability to move about in a dynamic environment. Our 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 by using sensor information and path information. This system attempts to follow a given path, adapting its course to the obstacles and shortcuts it perceives along the way. The key element of our approach is in using fuzzy logic to express and manipulate concepts needed for intelligent control. Some benefits from the use of fuzzy logic are ease of sensor fusion and generalization of desired direction of travel.

Original languageEnglish (US)
Title of host publicationFuzzy Logic and Fuzzy Control - IJCAI 1991 Workshops on Fuzzy Logic and Fuzzy Control, Proceedings
EditorsAnca L. Ralescu, Peter W. Eklund , Dimiter Driankov
PublisherSpringer Verlag
Pages133-142
Number of pages10
ISBN (Print)9783540582793
StatePublished - Jan 1 1994
EventIJCAI 1991 Workshops on Fuzzy Logic and Fuzzy Control - Sydney, Australia
Duration: Aug 24 1991Aug 24 1991

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume833 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

OtherIJCAI 1991 Workshops on Fuzzy Logic and Fuzzy Control
CountryAustralia
CitySydney
Period8/24/918/24/91

Fingerprint

Mobile Robot
Mobile robots
Fuzzy Logic
Fuzzy logic
Controller
Controllers
Path
Intelligent control
Sensors
Fusion reactions
Robots
Sensor Fusion
Intelligent Control
Dynamic Environment
Express
Robot
Sensor

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Yen, J., & Pfluger, N. (1994). Using fuzzy logic in a mobile robot path controller. In A. L. Ralescu, P. W. Eklund , & D. Driankov (Eds.), Fuzzy Logic and Fuzzy Control - IJCAI 1991 Workshops on Fuzzy Logic and Fuzzy Control, Proceedings (pp. 133-142). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 833 LNAI). Springer Verlag.
Yen, John ; Pfluger, Nathan. / Using fuzzy logic in a mobile robot path controller. Fuzzy Logic and Fuzzy Control - IJCAI 1991 Workshops on Fuzzy Logic and Fuzzy Control, Proceedings. editor / Anca L. Ralescu ; Peter W. Eklund ; Dimiter Driankov. Springer Verlag, 1994. pp. 133-142 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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Yen, J & Pfluger, N 1994, Using fuzzy logic in a mobile robot path controller. in AL Ralescu, PW Eklund & D Driankov (eds), Fuzzy Logic and Fuzzy Control - IJCAI 1991 Workshops on Fuzzy Logic and Fuzzy Control, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 833 LNAI, Springer Verlag, pp. 133-142, IJCAI 1991 Workshops on Fuzzy Logic and Fuzzy Control, Sydney, Australia, 8/24/91.

Using fuzzy logic in a mobile robot path controller. / Yen, John; Pfluger, Nathan.

Fuzzy Logic and Fuzzy Control - IJCAI 1991 Workshops on Fuzzy Logic and Fuzzy Control, Proceedings. ed. / Anca L. Ralescu; Peter W. Eklund ; Dimiter Driankov. Springer Verlag, 1994. p. 133-142 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 833 LNAI).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Yen J, Pfluger N. Using fuzzy logic in a mobile robot path controller. In Ralescu AL, Eklund PW, Driankov D, editors, Fuzzy Logic and Fuzzy Control - IJCAI 1991 Workshops on Fuzzy Logic and Fuzzy Control, Proceedings. Springer Verlag. 1994. p. 133-142. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).