Robotica · 1997 · 20 citations · 8 references
EngineeringComputer ScienceRobotics EngineeringMobile RoboticsRobot ControlRoboticsCollision AvoidanceCollision Avoidance ControlMobile Robot ControlObstacle AvoidanceRobot Control ArchitectureRobot NavigationFuzzy Logic Collision AvoidanceMobile Robot NavigationNavigationNeural Network ControlPerceptual SpaceReactive Collision AvoidanceReactive NavigationSteering
This paper is concerned with a mobile robot reactive navigation in an unknown cluttered environment based on neural network and fuzzy logic. Reactive navigation is a mapping between sensory data and commands without planning. This article's task is to provide a steering command letting a mobile robot avoid a collision with obstacles. In this paper, the authors explain how to perform a currently perceptual space partitioning for a mobile robot by the use of an ART neural network, and then, how to build a 3-dimensional fuzzy controller for mobile robot reactive navigation. The results presented, whether experimented or simulation, show that our method is well adapted to this type of problem.
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