한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

한국정밀공학회 (Korean Society for Precision Engineering)
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동적환경에서 퍼지추론을 이용한 이동로봇의 다중센서기반의 자율주행

Multisensor-Based Navigation of a Mobile Robot Using a Fuzzy Inference in Dynamic Environments

  • 진태석 (부산대학교 전자공학과 지능로보트실험실) ;
  • 이장명 (부산대학교 전자공학과)
  • 발행 : 2003.11.01
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초록

In this paper, we propose a multisensor-based navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using multi-ultrasonic sensor. Instead of using “sensor fusion” method which generates the trajectory of a robot based upon the environment model and sensory data, “command fusion” method by fuzzy inference is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor using fuzzy inference is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we performed simulations in PC as well as experiments with IRL-2002. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

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참고문헌

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