Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Development of a New Navigation Technology for Mobile Robot Based on Sonar Sensors

초음파센서 기반 이동로봇의 새로운 네비게이션 기술 개발

  • Nguyen, Van-Quyet (Dept. of Mechanical System Engineering, Graduate School, Kyungnam University) ;
  • Han, Sung-Hyun (Division of Mechanical System and Automation Engineering, Kyungnam University)
  • Published : 2009.12.15
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Abstract

This paper presents the theoretical development of a complete navigation problem of a non-holonomic mobile robot by using sonar sensors. To solve this problem, a new method to compute a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constraints of the robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. Different experiments in populated environments have proved to be very successful. Our method is able to guide the mobile robot named KUM-Robo safety and efficiently during long experimental time.

Keywords

References

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