Recent algorithms for fuzzy and neurofuzzy path planning and navigation of autonomous mobile robots.

• Autorzy: Tzafestas C.S. , Tzafestas S.G.
• Języki publikacji: EN

Abstrakty

EN

This paper reviews a number of recent algorithms for mobile robot path planning, navigation and motion control, which employ fuzzy logic and neurofuzzy learning and reasoning. Staring with a discussion of the structure of fuzzy and neurofuzzy systems, two fuzzy obstacle avoidance path planning algorithms are presented followed by a 3-level neurofuzzy local and global path planning scheme. Then the motion planning and control problem is considered. A fuzzy path tracking strategy is outlined, followed by a fuzzy navigation algorithm among polygonal obstacles and a learning-by-doing neurofuzzy motion planning scheme. The paper ends with a hybrid robust motion control technique witch combines the minimum interference and sliding mode control principles with fuzzy inference. A representative set of examples are included which illustrate the performance of the algorithms under various realistic conditions.

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 1999
• Tom: Vol. 25, nr 2
• Strony: 25--39
• Opis fizyczny: Bibliogr. 36 poz., rys. 5

Twórcy

autor

Tzafestas C.S.

autor

Tzafestas S.G.

• Intelligent Robotics and Automation Laboratory, Electrical and Computer Engineering Department, National Technical University of Athens, Zografou 157 73, Athens, Greece.