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A Fuzzy Obstacle Avoidance Controller Using a Lookup-Table Sharing Method and Its Applications for Mobile Robots
| Content Provider | SAGE Publishing |
|---|---|
| Author | Kim, Jinwook Kim, Yoon-Gu An, Jinung |
| Copyright Year | 2011 |
| Abstract | A Lookup-Table (LUT) based design enhances the processing speed of a fuzzy obstacle avoidance controller by reducing the operation time. Also, a LUT sharing method provides efficient ways of reducing the LUT memory size. In order to share the LUT which is used for a fuzzy obstacle avoidance controller, an idea of using a basis function is developed. As applications of the shared LUT-based fuzzy controller, a laser-sensor-based fuzzy controller and an ultrasonic-sensor-based fuzzy controller are introduced in this paper. This paper suggests a LUT sharing method that reduces the LUT buffer size without a significant degradation of the performance. The LUT sharing method makes the buffer size independent of the fuzzy system's complexity. A simulation using MSRDS (Microsoft Robotics Developer Studio) is used to evaluate the proposed method. To investigate the performance of the controller, experiments are carried out using a Pioneer P3-DX with LabVIEW as an integration tool. Although the simulation and experiments show little difference between the fully valued LUT-based method and the LUT sharing method in terms of the operation time, the LUT sharing method reduces almost 95% of the full-valued LUT-based buffer size. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.5772/45700?download=true |
| ISSN | 17298806 |
| Issue Number | 5 |
| Volume Number | 8 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.5772/45700 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2011-11-01 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © 2011 Kim et al.; licensee InTech. |
| Subject Keyword | Lookup Table. Mobile Robot Fuzzy Controller Autonomous Navigation Obstacle Avoidance |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
