NDLI: Real time navigation strategies for webots using fuzzy controller

Content Provider	IEEE Xplore Digital Library
Author	Pandey, K.K. Mohanty, P.K. Parhi, D.R.
Copyright Year	2014
Description	Author affiliation: Mech. Eng. Dept., Nat. Inst. of Technol., Rourkela, India (Pandey, K.K.; Mohanty, P.K.; Parhi, D.R.)
Abstract	Since last decade, designing of an autonomous mobile robot for complex systems involves the interaction between numerous heterogeneous components (software and hardware) and according to its application; they are heavily used in environments where human involvement is restricted, unmanageable, or hazardous. For researchers, the proper movement of robot inside working environment is the challenging tasks; accordingly, day by day research has been made on navigation system of mobile robot. As a result, we design mobile robot controller algorithms that helps mobile robot to navigate in environment according to given task and avoid obstacle. In order to avoid obstacles in efficient manner and to reach the goal position through complicated path (i.e. surrounded by various types of obstacles), we designed sensor integration based fuzzy logic controller that transform the direction of mobile robot according to obstacle position and create collision free path. To create a collision free path certain input parameter, output parameter, fuzzy membership functions and `If-Then rule' fuzzy interface system are executed in algorithm. All these information are combined together to map the environment. To attain the collision free path, obstacle avoidance is done through changing the steering angle at point to point with the help of sensor network. The controller covers the environment at which starting point, goal point and obstacle position is known. Priority is made to avoid the obstacle during goal seeking behavior by the robot. The efficiency of the recommended technique is confirmed by a succession of simulations. To check the simulation result for proposed controller, 3D Physics-based simulation software is used.
Starting Page	10
Ending Page	16
File Size	395328
Page Count	7
File Format	PDF
e-ISBN	9781479938377
DOI	10.1109/ISCO.2014.7103910
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-10
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy logic Navigation Map building Robot sensing systems Infrared sensors Sensors integration etc Mobile robots Collision avoidance Autonomous mobile robots
Content Type	Text
Resource Type	Article

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