NDLI: Flexible fuzzy logic control for collision-free manipulator operation

Content Provider	IEEE Xplore Digital Library
Author	Soucy, M. Payeur, P.
Copyright Year	2005
Description	Author affiliation: Sch. of Inf. Technol. & Eng., Ottawa Univ., Ont., Canada (Soucy, M.; Payeur, P.)
Abstract	Robot path planning is an important part in the development of autonomous systems. Numerous strategies have been proposed in the literature regarding mobile robots but trajectory planning for manipulators is considerably more difficult since the entire structure can move and produce collisions with surrounding obstacles. This paper presents an original and robust solution that can be used for safe path planning for various manipulator arms working in cluttered environments. Path planning is executed in two steps. First, a global path is determined to guide the end effector using classical artificial potential fields, probabilistic datasets and multiresolution occupancy grids. Then, a fuzzy logic controller performs a local tracking for the entire robot structure by considering the kinematics of the robot as well as repulsive forces originating from nearby obstacles. Experimentation with robots of various architectures and different environments demonstrated the robustness and flexibility of the proposed planning and control approach which requires minimal tuning.
Starting Page	723
Ending Page	728
File Size	260173
Page Count	6
File Format	PDF
ISBN	078039044X
DOI	10.1109/ICMA.2005.1626639
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-29
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy logic Manipulators Path planning Mobile robots Trajectory Strategic planning Robustness Arm End effectors Force control
Content Type	Text
Resource Type	Article

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