A predictive collision-free fuzzy algorithm for mobile robots to avoid obstacles moving at variable speeds

Hoang Minh Do, Jin Woo Jung

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, a new algorithm for mobile robot navigation is presented. Some previous works have been proposed to solve this problem which only assumes the obstacles moving at constant speeds. However, differently from the unrealistic assumption, the obstacles can move at variable speed in the real world. The goal of the proposed algorithm is assisting mobile robots smoothly avoid moving obstacles which continuously change their speed by predicting collision. The mechanism is based on fuzzy logic system of two inputs which are the angle of obstacle relative to the direction of robot and the distance between obstacle and robot. The output will be adjustment angle of the heading of robot to avoid possible collisions with obstacles.

Original languageEnglish
Title of host publicationICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
Pages2214-2217
Number of pages4
StatePublished - 2012
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of
Duration: 17 Oct 201221 Oct 2012

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Conference

Conference2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
Country/TerritoryKorea, Republic of
CityJeju
Period17/10/1221/10/12

Keywords

  • fuzzy logic
  • moving obstacle
  • Robot navigation

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