Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Path Planning of a Mobile Robot Using the Ultrasonic Sensor and Fuzzy Logic

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  • Park, Chang-Soo (HongIk Univ. Department of Electrical Control Engineering) ;
  • Lee, Jong-Soo (HongIk Univ. Department of Electrical Control Engineering)
  • 박창수 (홍익대학교 전기제어공학과) ;
  • 이종수 (홍익대학교 전기제어공학과)
  • Published : 1999.11.20
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Abstract

The research fields of mobile robot consist of three parts. The first is path planning, the second is the application of new sensors, and the last is a combination of the communication technology and mobile robot. In this paper we treat the path-planning. We use a Bayesian probability map, Distance Transform and Fuzzy logic for a path-planning. DT and Fuzzy logic algorithms search for path in entire, continuous free space and unifies global path planning and local path planning. It is efficient and effective method when compared with navigators using traditional approaches.

Keywords