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Development of a new minimum avoidance system for a behavior-based mobile robot


Citation

Motlagh, Omid Reza Esmaeili and Tang, Sai Hong and Ismail, Napsiah (2009) Development of a new minimum avoidance system for a behavior-based mobile robot. Fuzzy Sets and Systems, 160 (13). pp. 1929-1946. ISSN 0165-0114; ESSN: 1872-6801

Abstract

A new fuzzy logic algorithm is developed for mobile robot navigation in local environments. A Pioneer robot perceives its environment through an array of eight sonar sensors and self positioning-localization sensors. While the fuzzy logic body of the algorithm performs the main tasks of obstacle avoidance and target seeking, an actual–virtual target switching strategy resolves the problem of limit cycles in any type of dead-ends encountered on the way to the target. This is an advantage beyond pure fuzzy logic approach and common virtual target techniques. In this work, multiple traps may have any shape or arrangement from barriers forming simple corners and U-shape dead-ends to loops, maze, snail shape, and other complicated shapes. Robot trajectories are demonstrated by simulation work and compared with results from other related methods to prove the robustness of this method.


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Additional Metadata

Item Type: Article
Divisions: Faculty of Engineering
DOI Number: https://doi.org/10.1016/j.fss.2008.09.015
Publisher: Elsevier
Keywords: Fuzzy logic; Local navigation; Minimum avoidance; Virtual target; Autonomous robotics
Depositing User: Nabilah Mustapa
Date Deposited: 27 Aug 2015 06:14
Last Modified: 27 Aug 2015 06:14
Altmetrics: http://www.altmetric.com/details.php?domain=psasir.upm.edu.my&doi=10.1016/j.fss.2008.09.015
URI: http://psasir.upm.edu.my/id/eprint/40063
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