Fuzzy-logic-based moving obstacle avoidance of a mobile robot | |
| Author | Muller, Wiebke |
| Call Number | AIT RSPR no.ISE-02-01 |
| Subject(s) | Mobile robots Fuzzy logic |
| Note | A research study submitted in partial fulfillment of the requirements for the degree of Diploma, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Research studies project report ; no. ISE-02-01 |
| Abstract | Autonomous mobile robots have to be capable of decision-making under various sources of uncertainty. Such uncertainties are the unreliability of prior information about the environment and of perceptually acquired information, as well as the complex and unpredictable dynamics of real-world environments. The main challenge of autonomous robotics is to build robust control programs that reliably perform in spite of uncertainties. Path planning is a main task of the robot controller. Most common obstacle avoidance algorithms are designed for static environments. In this research work a new obstacle avoidance algorithm for the Pioneer 2-DX mobile robot is developed, and hence takes obstacle velocity into account. The robot has a behavior-based architecture. A behavior is a rudimentary control program and is implemented as a fuzzy controller in this case. The outputs of multiple behaviors are fused, according t o the concept of context-dependent blending, which can be summarized as a multi-layered fuzzy controller , employing fuzzy meta-rules to coordinate the controllers and blend their respective outputs into one crisp motion control command. The implemented algorithm shows good performance for static and dynamic obstacles, respectively. To blend these together into one controller, the problem of obstacle identification has to be solved, to classify st atic and dynamic objects and activate the corresponding avoidance behavior. Furthermore, limitations clue to the used sensors and the Saphira software implementation have to be considered. |
| Year | 2002 |
| Corresponding Series Added Entry | Asian Institute of Technology. Research studies project report ; no. ISE-02-01 |
| Type | Research Study Project Report (RSPR) |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V.; Bohez, Ir. Erik L.J.;Rall, Ing. Klaus ; |
| Scholarship Donor(s) | Siemens AG; |
| Degree | Research report (M.SC.) - Asian Institute of Technology, 2002 |