Fuzzy Control for Navigation and Obstacle Avoidance of a Wheeled Mobile Robot

摘要：

This paper proposes a hierarchical fuzzy logiccontroller (FLC) for the position control and obstacle avoidance of a wheeled mobile robot (WMR). The FLC consists of two levels: one is the path planning level that generating desired heading angle at each WMRs position. The other is the motion control level that outputs robots wheel velocities to reach the desired destination with obstacles when given the robots current posture. To demonstrate the effectiveness and applicability of the proposed fuzzy logic controller, the simulation is given.

关键词： wheeled mobile robot fuzzy logic control navigation obstacle avoidance

作者: Yung-Shun Cheng Hung-Yuan Chung

作者单位: Department of Electrical Engineering National Central University, Jhong-Li City, Tao-Yuan County, Ta Department of Electrical Engineering National Central University, Jhong-Li, City, Tao-Yuan County, T

会议类型: 国际会议

会议名称: 2011 Eighth International Conference on Fuzzy System and Knowledge Discovery(第八届模糊系统与知识发现国际会议 FSKD 2011)

会议地点: 上海

会议语种:英文

页码: 510-514

在线出版日期: 2011-07-26（万方平台首次上网日期，不代表论文的发表时间）