Fuzzy potential energy for a map approach to robot navigation

Kuo Yang Tu, Jacky Baltes

Research output: Contribution to journalArticle

28 Citations (Scopus)

Abstract

A fully autonomous robot needs a flexible map to solve frequent change of robot situations and/or tasks. In this paper, based on the second type of fuzzy modeling, fuzzy potential energy (FPE) is proposed to build a map that facilitates planning robot tasks for real paths. Three rules for making use of FPEs are derived to ground the basic ideas of building a map for task navigation. How the FPE performs robot navigation is explained by its gradient directions and shown by its gradient trajectories. To code qualitative information into quantity, the proposed FPE provides a way to quickly find a path for conducting the designated task or solving a robot under an embarrassing situation. This paper pioneers novel design and application of fuzzy modeling for a special map that exploits innovation usage of task navigation for real paths. Actually, visibility graphs based on the knowledge of human experts are employed to build FPE maps for navigation. To emphasize the idea of the created FPE, seven remarks direct the roadmap towards being a utility tool for robot navigation. Three illustrative examples, containing three spatial patterns, doors, corridors and cul-de-sacs, are also included. This paper paves the way to create ideas of intelligent navigation for further developments.

Original languageEnglish
Pages (from-to)574-589
Number of pages16
JournalRobotics and Autonomous Systems
Volume54
Issue number7
DOIs
Publication statusPublished - 2006 Jul 31

Keywords

  • Fuzzy modeling
  • Fuzzy set theory
  • Path planning
  • Robot navigation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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