Development of a Mobile Robot Local Navigation System Based on Fuzzy-Logic Control and Actual Virtual Target Switching

Robot local path planning in an unknown and changing environment with uncertainties is one of the most challenging problems in robotics which involves the integration of many different bodies of knowledge. This makes mobile robotics a challenge worldwide which for many years has been investigated...

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Main Author:	Esmaeili Motlagh, Omid Reza
Format:	Thesis
Language:	English English
Published:	2006
Subjects:	Mobile robots - Fuzzy algorithms Mobile robots - Fuzzy systems
Online Access:	http://psasir.upm.edu.my/id/eprint/7243/1/ITMA_2006_11.pdf
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id	my-upm-ir.7243
record_format	uketd_dc
spelling	my-upm-ir.72432013-05-27T07:34:19Z Development of a Mobile Robot Local Navigation System Based on Fuzzy-Logic Control and Actual Virtual Target Switching 2006-12 Esmaeili Motlagh, Omid Reza Robot local path planning in an unknown and changing environment with uncertainties is one of the most challenging problems in robotics which involves the integration of many different bodies of knowledge. This makes mobile robotics a challenge worldwide which for many years has been investigated by researchers. Therefore in this thesis, a new fuzzy logic control system is developed for reactive navigation of a behavior-based mobile robot. The motion of a Pioneer 3TM mobile robot was simulated to show the algorithm performance. The robot perceives its environment through an array of eight sonar range finders and self positioning-localization sensors. The robot environment consists of walls and dead end traps from any size and shape, as well as other stationary obstacles and it is assumed to be fully unknown. Robot behaviors consist of obstacle avoidance, target seeking, speed control, barrier following and local minimum avoidance. While the fuzzy logic body of the algorithm performs the main tasks of obstacle avoidance, target seeking, and speed adjustment, an actual-virtual target switch strategy integrated with the fuzzy logic algorithm enables the robot to show wall following behavior when needed. This combinational approach which uses a new kind of target shift, significantly results in resolving the problem of multiple minimum in local navigation which is an advantage beyond the pure fuzzy logic approach and the common virtual target switch techniques. In this work, multiple traps may have any type of shape or arrangement from barriers forming simple corners and U-shape dead ends to loops, maze, snail shape, and many others. Under the control of the algorithm, the mobile robot makes logical trajectories toward the target, finds best ways out of dead ends, avoids any types of obstacles, and adjusts its speed efficiently for better obstacle avoidance and according to power considerations and actual limits. From TRAINER Software and Colbert Program which were used in the simulation work, the system managed to solve all the problems in sample environments and the results were compared with results from other related methods to show the effectiveness and robustness of the proposed approach. Mobile robots - Fuzzy algorithms Mobile robots - Fuzzy systems 2006-12 Thesis http://psasir.upm.edu.my/id/eprint/7243/ http://psasir.upm.edu.my/id/eprint/7243/1/ITMA_2006_11.pdf application/pdf en public masters Universiti Putra Malaysia Mobile robots - Fuzzy algorithms Mobile robots - Fuzzy systems Institute of Advanced Technology English
institution	Universiti Putra Malaysia
collection	PSAS Institutional Repository
language	English English
topic	Mobile robots - Fuzzy algorithms Mobile robots - Fuzzy systems
spellingShingle	Mobile robots - Fuzzy algorithms Mobile robots - Fuzzy systems Esmaeili Motlagh, Omid Reza Development of a Mobile Robot Local Navigation System Based on Fuzzy-Logic Control and Actual Virtual Target Switching
description	Robot local path planning in an unknown and changing environment with uncertainties is one of the most challenging problems in robotics which involves the integration of many different bodies of knowledge. This makes mobile robotics a challenge worldwide which for many years has been investigated by researchers. Therefore in this thesis, a new fuzzy logic control system is developed for reactive navigation of a behavior-based mobile robot. The motion of a Pioneer 3TM mobile robot was simulated to show the algorithm performance. The robot perceives its environment through an array of eight sonar range finders and self positioning-localization sensors. The robot environment consists of walls and dead end traps from any size and shape, as well as other stationary obstacles and it is assumed to be fully unknown. Robot behaviors consist of obstacle avoidance, target seeking, speed control, barrier following and local minimum avoidance. While the fuzzy logic body of the algorithm performs the main tasks of obstacle avoidance, target seeking, and speed adjustment, an actual-virtual target switch strategy integrated with the fuzzy logic algorithm enables the robot to show wall following behavior when needed. This combinational approach which uses a new kind of target shift, significantly results in resolving the problem of multiple minimum in local navigation which is an advantage beyond the pure fuzzy logic approach and the common virtual target switch techniques. In this work, multiple traps may have any type of shape or arrangement from barriers forming simple corners and U-shape dead ends to loops, maze, snail shape, and many others. Under the control of the algorithm, the mobile robot makes logical trajectories toward the target, finds best ways out of dead ends, avoids any types of obstacles, and adjusts its speed efficiently for better obstacle avoidance and according to power considerations and actual limits. From TRAINER Software and Colbert Program which were used in the simulation work, the system managed to solve all the problems in sample environments and the results were compared with results from other related methods to show the effectiveness and robustness of the proposed approach.
format	Thesis
qualification_level	Master's degree
author	Esmaeili Motlagh, Omid Reza
author_facet	Esmaeili Motlagh, Omid Reza
author_sort	Esmaeili Motlagh, Omid Reza
title	Development of a Mobile Robot Local Navigation System Based on Fuzzy-Logic Control and Actual Virtual Target Switching
title_short	Development of a Mobile Robot Local Navigation System Based on Fuzzy-Logic Control and Actual Virtual Target Switching
title_full	Development of a Mobile Robot Local Navigation System Based on Fuzzy-Logic Control and Actual Virtual Target Switching
title_fullStr	Development of a Mobile Robot Local Navigation System Based on Fuzzy-Logic Control and Actual Virtual Target Switching
title_full_unstemmed	Development of a Mobile Robot Local Navigation System Based on Fuzzy-Logic Control and Actual Virtual Target Switching
title_sort	development of a mobile robot local navigation system based on fuzzy-logic control and actual virtual target switching
granting_institution	Universiti Putra Malaysia
granting_department	Institute of Advanced Technology
publishDate	2006
url	http://psasir.upm.edu.my/id/eprint/7243/1/ITMA_2006_11.pdf
_version_	1747810680065490944

Development of a Mobile Robot Local Navigation System Based on Fuzzy-Logic Control and Actual Virtual Target Switching

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