Behavior-Based Navigation Using Heuristic Fuzzy Kohonen Clustering Network for Mobile Service Robots

被引：0
|
作者：
Tsai, Ching-Chih [1 ]
Chen, Chin-Cheng [1 ]
Chan, Cheng-Kain [1 ]
Li, Yi Yu [1 ]
机构：
[1] Natl Chung Hsing Univ, Dept Elect Engn, Taichung 40227, Taiwan
来源：
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS | 2010年 / 12卷 / 01期
关键词：
Behavior Navigation; fuzzy Kohonen clustering network (FKCN); Mobile robot; Omnidirectional; CONTROLLER;
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 technical note presents a behavior-based navigation method for a mobile service robot with a three-wheeled omnidirectional mobile platform. A heuristic fuzzy Kohonen clustering network (FKCN) is presented to obtain laser area weights and desired robot motion heading for all types of indoor environments. An efficient behavior-based navigation structure is then proposed to merge the heuristic FKCN with three fuzzy behaviors in order to navigate the robot without any collisions in crowded and cluttered indoor environments. Simulation and experimental results are conducted to verify the feasibility and effectiveness of the proposed method.
引用
收藏
页码：25 / 32
页数：8
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