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

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

1 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program
頁面546-551
頁數6
出版狀態已發佈 - 2011
對外發佈
事件2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Zhengzhou, 中国
持續時間: 2011 八月 112011 八月 13

出版系列

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

其他

其他2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011
國家/地區中国
城市Zhengzhou
期間2011/08/112011/08/13

ASJC Scopus subject areas

  • 電氣與電子工程
  • 機械工業

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