한국산업융합학회 논문집 (Journal of the Korean Society of Industry Convergence)

  • 제21권2호
  • /
  • Pages.95-101
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  • 2018
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  • 1226-833X(pISSN)
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  • 2765-5415(eISSN)
한국산업융합학회 (The Korean Society of Industry Convergence)
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퍼지추론기반 센서융합 이동로봇의 장애물 회피 주행기법

Fuzzy Inference Based Collision Free Navigation of a Mobile Robot using Sensor Fusion

  • 진태석 (동서대학교 메카트로닉스공학과)
  • 투고 : 2018.01.15
  • 심사 : 2018.02.22
  • 발행 : 2018.03.31
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초록

This paper presents a collision free mobile robot navigation based on the fuzzy inference fusion model in unkonown environments using multi-ultrasonic sensor. Six ultrasonic sensors are used for the collision avoidance approach where CCD camera sensors is used for the trajectory following approach. The fuzzy system is composed of three inputs which are the six distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and three cost functions for the robot's movement, direction, obstacle avoidance, and rotation. For the evaluation of the proposed algorithm, we performed real experiments with mobile robot with ultrasonic sensors. 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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