Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of hierarchically structured control algorithm of a mobile robot

자율이동로봇의 계층구조 제어 알고리즘의 개발

  • 최정원 (영남대학교 전자정보공학부) ;
  • 박찬규 (영남이공대학 전기자동화과) ;
  • 이석규 (영남대학교 전자정보공학부)
  • Published : 2003.05.01
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Abstract

We propose a hierarchically structured navigation algorithm for multiple mobile robots under unknown dynamic environment based on fussy-neural algorithm. The proposed algorithm consists of two basic layers. The lower layer consists of two parts such as fuzzy algorithm for goal approach and fuzzy-neural algorithm for obstacle avoidance. The upper layer which is basically fuzzy algorithm adjusts the magnitude of the weighting factor depending on the environmental situation. In addition, The proposed algorithm provides an efficient method to escape local mimimum points as shown in the simulation result. The efficacy of the proposed method is demonstrated via some simulations.

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References

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