| Title |
A Study on Fuzzy Controller for Autonomous Mobile Robot |
| Authors |
주영훈 ; 황희수 ; 고재원 ; 김성권 ; 황금찬 ; 우광방 |
| Keywords |
자율 이동로보트 ; 초음파 유도방식 ; 자기유도 주행 ; 퍼지 제어 ; 자기도조 제어 ; 장애물 회피 Autonomous Mobile Robot ; Ultrasonic Guided Method ; Dead Reckoning Method ; Fuzzy Control ; Self Tuning Control ; Obastacle Avoidance |
| Abstract |
In this paper, the method for navigation and obstacle avoidance of the autonomous mobile robot is proposed. The proposed algorithms are based on the fuzzy inference system which is able to deal with imprecise and uncertain information. The self-tuning algorithm, which adopts the simplex method, modifies the parameters of membership functions of the input-output linguistic variables by changing the support of these fuzzy sets according to the integral of absolute error(IAE) of the system response. The wall-follwing navigation and obstacle avoidance of the mobile robot are based on range data measured from the internal sensors(encoder) and the outer sensors(sonar sensor). In addition, the algorithm for the obstacle detection proposed in this paper is based on the expert's experience. Finally, the effectiveness of navigation and obstacle avoidance algorithm is demonstrated through simulation and experiment. |