제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Obstacle avoidance plan of autonomous mobile robot using fuzzy control

  • Park, Kyung-Seok (Dept. of Control and Instrumentation Eng. Grad. School Chosun Univ.) ;
  • Yi, Kyung-Woong (Dept. of Control and Instrumentation Eng. Grad. School Chosun Univ.) ;
  • Choi, Han-Soo (Division of Information, Control and Instrumentation Eng. Chosun Univ.)
  • Published : 2003.10.22
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Abstract

In this paper, We designed the local path planning direction algorithmusing fuzzy controller applied fuzzy logic. Algorithm decieded a direction angle by theposition of obstacle, the distance with obstacle, the progress direction of robot, the speed of vehicles and the perception area of sensor. The robot designed with proposed algorithm carried out soft moving without any particular operation, and we could observe that it had very soft curved moving as if an expert drove.

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