Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance-Reference-Cited by-同舟云学术

Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance

Published:2016 Issue: Volume:2016 Page:1-13
ISSN:1687-5265
Container-title:Computational Intelligence and Neuroscience
language:en
Short-container-title:Computational Intelligence and Neuroscience

Author:

Park Jong-Wook¹,Kwak Hwan-Joo²,Kang Young-Chang³,Kim Dong W.⁴

Affiliation:

1. Department of Electronic Engineering, Incheon National University, Incheon 402-752, Republic of Korea

2. Powertrain Platform Team, Hyundai Autron Co., Ltd., Mtek IT Tower, No. 344, Pangyo-ro, Bundang-gu, Seongnam-si, Gyeonggi-do 463-400, Republic of Korea

3. Department of Computer Engineering, Gachon University, 1342 Seongnamdaero, Sujeong-gu, Seongnam-si, Gyeonggi-do 461-701, Republic of Korea

4. Department of Digital Electronics, Inha Technical College, 100 Inha-ro, Nam-gu, Incheon 402-752, Republic of Korea

Abstract

An advanced fuzzy potential field method for mobile robot obstacle avoidance is proposed. The potential field method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of experts. The design of a fuzzy controller—advanced fuzzy potential field method (AFPFM)—that models and enhances the conventional potential field method is proposed and discussed. This study also examines the rule-explosion problem of conventional fuzzy logic and assesses the performance of our proposed AFPFM through simulations carried out using a mobile robot.

Funder

Incheon National University (International Cooperative) Research

Publisher

Hindawi Limited

Subject

General Mathematics,General Medicine,General Neuroscience,General Computer Science

Link

http://downloads.hindawi.com/journals/cin/2016/6047906.pdf

Reference16 articles.

1. A surveillance robot with hopping capabilities for home security

2. Constrained Motion Model of Mobile Robots and Its Applications

3. Springer Handbook of Robotics

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