Mobile robot navigation using sonar direction weights
Mobile robot navigation using sonar direction weights
复制标题
使用声纳方向权重的移动机器人导航
DOI：
10.1109/cca.2004.1387514
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Shin
中科院分区：
文献类型：
--
作者：
K. Song;Shin
采用基于行为的方法设计并实现了移动机器人自主导航的模糊控制系统。我们提出了一种用于机器人环境声纳扫描的方向权重的新概念。这个概念有利于使用简单的模糊逻辑控制器进行导航设计。模糊逻辑导航控制器中仅使用了三个模糊规则。因此移动机器人在未知环境中对障碍物具有快速响应能力。采用模糊Kohonen聚类网络（FKCN）来确定声纳方向权重。在控制实现中，方向权重根据环境变化实时调整。计算机模拟和实际实验结果都验证了所提出的导航系统的有效性。
A fuzzy control system for autonomous navigation of mobile robots has been designed and implemented using behavior-based approach. We propose a novel concept of direction weights for sonar scanning of the robot environment. This concept facilitates navigation design using simple fuzzy logic controllers. Only three fuzzy rules are used in the fuzzy logic navigation controller. Thus the mobile robot has fast response to obstacles in an unknown environment. Fuzzy-Kohonen clustering network (FKCN) is adopted for sonar direction weights determination. In control implementation, the direction weights are adjusted in real time to the environmental changes. Both computer simulations and practical experimental results are presented to verify the effectiveness of the proposed navigation system.