Abstract
A successful mobile robot system must have the ability to move about in a dynamic environment. Our approach to this problem is to plan a path for the robot to move from a starting point to a goal point using a map that may not have all the current information on the environment. The controller then dynamically reacts in an intelligent fashion to unplanned obstacles along the path by using sensor information and path information. This system attempts to follow a given path, adapting its course to the obstacles and shortcuts it perceives along the way. The key element of our approach is in using fuzzy logic to express and manipulate concepts needed for intelligent control. Some benefits from the use of fuzzy logic are ease of sensor fusion and generalization of desired direction of travel.
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© 1994 Springer-Verlag Berlin Heidelberg
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Yen, J., Pfluger, N. (1994). Using fuzzy logic in a mobile robot path controller. In: Driankov, D., Eklund, P.W., Ralescu, A.L. (eds) Fuzzy Logic and Fuzzy Control. IJCAI 1991. Lecture Notes in Computer Science, vol 833. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-58279-7_25
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DOI: https://doi.org/10.1007/3-540-58279-7_25
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