Paper Info
Title
Navigation System Of Mobile Robot In An Uncertain Environment Using Type-2 Fuzzy Modelling
Abstract
A navigation system of a mobile robot in an uncertain environment is one of a popular research area. There are both static and dynamic obstacles in an uncertain environment. If a robot finds a static obstacle, it can select a safe path very easily. However, a dynamic obstacle can move very randomly in the global map. Hence, in this paper, we propose a navigation system in an uncertain environment focusing on dynamic obstacles for a mobile robot. The future position of a dynamic obstacle is modeled using a fuzzy vector. The dangerous region of that obstacle is then computed. Then the free road candidates are computed based on those dangerous regions found. Then the best free road is selected. Finally, the interval type-2 fuzzy logic system is utilized to compute the velocity and angular velocity of a mobile robot. The experiment results show that our navigation system worked in an uncertain environment, i.e., an environment with an obstacle with stable velocity and angular velocity, an environment with an obstacle with random velocity, and an environment with several obstacles with both condition.
Year
DOI
Venue
2011
10.1109/FUZZY.2011.6007722
IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ 2011)
Keywords
Field
DocType
interval type-2 fuzzy logic, uncertain environment, fuzzy collision region, collision prediction, obstacle avoidance
Obstacle avoidance,Motion planning,Obstacle,Global Map,Control theory,Computer science,Navigation system,Mobile robot navigation,Robot,Mobile robot
Conference
ISSN
Citations 
PageRank 
1098-7584
2
0.39
References 
Authors
17
3
Name
Order
Citations
PageRank
Sittichok Junratanasiri120.39
S. Auephanwiriyakul224639.45
Nipon Theera-umpon318430.59