Fuzzy-rule-based behavior control for collaborative human/robot navigation in unknown environments

Yan Chang Lee*, Zong Lun Lee, Hisn Han Chiang, Tsu Tian Lee

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper is to develop an intelligent autonomous mobile robot which also reserves the collaborative navigation ability with human beings. In the strategy for robot navigation in unknown environment, the fuzzy-rule-based algorithm is employed to design the fuzzy behavior controller which coordinates conflicts and competitions among multiple reactive behaviors efficiently. This controller consists three control layers: orientation control layer directing the robot toward the goal frame to move to the destination; obstacle avoidance control layer assists the robot in dodging obstacles and, if necessary, escaping out of the dead-cycle situation; human control layer allows humans to influence navigation for handling emergent behavior. The ultrasonic sensor module provides the distance information between the robot and obstacles, while the compass module indicates the heading direction to the target. Through a wireless-based control panel, collaborative navigation control can be shared between the human and the robot at some specific situations. A low-cost platform has been developed for this mobile robot in a modular design for promoting flexibility from task to task. Experimental results demonstrate the navigation effectiveness of robot in complex and unknown environments.

Original languageEnglish
Title of host publication2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program
Pages546-551
Number of pages6
Publication statusPublished - 2011
Externally publishedYes
Event2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Zhengzhou, China
Duration: 2011 Aug 112011 Aug 13

Publication series

Name2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program

Other

Other2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011
Country/TerritoryChina
CityZhengzhou
Period2011/08/112011/08/13

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Fingerprint

Dive into the research topics of 'Fuzzy-rule-based behavior control for collaborative human/robot navigation in unknown environments'. Together they form a unique fingerprint.

Cite this