The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

An Autonomous Mobile Robot Control Method based on Fuzzy-Artificial Immune Networks and RBFN

퍼지-인공면역망과 RBFN에 의한 자율이동로봇 제어

  • 오홍민 (현대기아자동차㈜연구소) ;
  • 박진현 (진주산업대 메카트로닉스공학과) ;
  • 최영규 (부산대 전자전기정보컴퓨터공학부)
  • Published : 2003.12.01
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Abstract

In order to navigate the mobile robots safely in unknown environments, many researches have been studied to devise navigational algorithms for the mobile robots. In this paper, we propose a navigational algorithm that consists of an obstacle-avoidance behavior module, a goal-approach behavior module and a radial basis function network(RBFN) supervisor. In the obstacle-avoidance behavior module and goal-approach behavior module, the fuzzy-artificial immune networks are used to select a proper steering angle which makes the autonomous mobile robot(AMR) avoid obstacles and approach the given goal. The RBFN supervisor is employed to combine the obstacle-avoidance behavior and goal-approach behavior for reliable and smooth motion. The outputs of the RBFN are proper combinational weights for the behavior modules and velocity to steer the AMR appropriately. Some simulations and experiments have been conducted to confirm the validity of the proposed navigational algorithm.

Keywords

References

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