Multi-obstacle avoidance based on the method of fuzzy-function for mobile robot

被引：0

作者：

Zhang, Feng ^{[1
]}

Tan, Dalong ^{[2
]}

机构：

[1] Shenyang Jianzhu Univ, Fac Informat & Control Engn, Shenyang 110168, Peoples R China

[2] Chinese Acad Sci, Shenyang Inst Automat, Robot Lab, Shenyang 110016, Peoples R China

来源：

WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS | 2006年

关键词：

mobile robot; collision avoidance; fuzzy-function;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presented a method of collision avoidance based on the fuzzy-function focus on the complex environment existing multi-obstacle for mobile robot. It constructs the curve of fuzzy-function by defining the function of degree of risk, and changes the problem of two-dimension into one-dimension for collision avoidance. It is simple. The experiment of simulation verified its validity.

引用

页码：243 / 243

页数：1

共 8 条

[1] Cao Zhi-Qiang, 2003, Acta Automatica Sinica, V29, P536
[2] Chang DE, 2003, 42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, P539
[3] Motion planning in dynamic environments using velocity obstacles
Fiorini, P
Shiller, Z
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1998, 17 (07): : 760 - 772
[4] HWANG KS, COLLISION AVOIDANCE
[5] Kant K., 1988, Proceedings of the 1988 IEEE International Conference on Robotics and Automation (Cat. No.88CH2555-1), P1644, DOI 10.1109/ROBOT.1988.12302
[6] Detection, tracking and avoidance of multiple dynamic objects
Krishna, KM
Kalra, PK
[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2002, 33 (04) : 371 - 408
[7] MACLEMZIE DC, 1997, MULTIAGENT MISSION S, V4, P29
[8] An LMI approach to guaranteed cost control of linear uncertain time-delay systems
Yu, L
Chu, J
[J]. AUTOMATICA, 1999, 35 (06) : 1155 - 1159

← 1 →