| Title |
Autonomous Mobile Robot Navigation using Artificial Immune Networks and Fuzzy Systems |
| Authors |
김양현(Kim, Yang-Hyeon) ; 이동제(Lee, Dong-Je) ; 이민중(Lee, Min-Jung) ; 최영규(Choe, Yeong-Gyu) |
| Keywords |
Autonomous Mobile Robot ; Artificial Immune Network ; Fuzzy-based Decision Maker |
| Abstract |
The navigation algorithms enable autonomous mobile robots to reach given target points without collision against obstacles. To achieve safe navigations in unknown environments, this paper presents an effective navigation algorithm for the autonomous mobile robots with ultrasonic sensors. The proposed navigation algorithm consists of an obstacle-avoidance behavior, a target-reaching behavior and a fuzzy-based decision maker. In the obstacle-avoidance behavior and the target-reaching behavior, artificial immune networks are used to select a proper steering angle, make the autonomous mobile robot avoid obstacles and approach a given target point. The fuzzy-based decision maker combines the steering angles from the target-reaching behavior and the obstacle-avoidance behavior in order to steer the autonomous mobile robot appropriately. Simulational and experimental results show that the proposed navigation algorithm is very effective in unknown environments. |