Name
Abstract | ||
|---|---|---|
This paper discusses fuzzy control for obstacle avoidance of a mobile robot which has two independent driving wheels. The feedback control system is used to maintain speed relatively constant even though disturbing torques may occur. Therefore, the control inputs in order to avoid obstacles, which are outputs of the fuzzy controller, are commands for the speed control system of the left wheel and the right one. The inputs to the fuzzy controller are derived by processing the floor image in front of the robot, which is obtained with a CCD camera. Fuzzy control rules which were derived on the basis of a human's driving actions were modified by computer simulation. Experiments were performed on a robot constructed for the purpose. |
Year | DOI | Venue |
|---|---|---|
1988 | 10.1016/0020-0255(88)90042-4 | Inf. Sci. |
Keywords | Field | DocType |
mobile robot,obstacle avoidance,fuzzy control | Obstacle avoidance,Robot control,Control theory,Control theory,Fuzzy logic,Control system,Fuzzy control system,Robot,Mathematics,Mobile robot | Journal |
Volume | Issue | ISSN |
45 | 2 | 0020-0255 |
Citations | PageRank | References |
20 | 4.47 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Tomoyoshi Takeuchi | 1 | 27 | 6.26 |
| Yutaka Nagai | 2 | 20 | 4.47 |
| Nobuyoshi Enomoto | 3 | 21 | 5.24 |