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A layered fuzzy logic controller for nonholonomic car-like robot

El-Khatib, M.M. and Hamilton, D.J. (2006) A layered fuzzy logic controller for nonholonomic car-like robot. In: Mechatronics 2006, 2006-07-03 - 2006-07-05, Budapest.

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Abstract

A system for real time navigation of a nonholonomic car-like robot in a dynamic environment consists of two layers is described: a Sugeno-type fuzzy motion planner; and a modified proportional navigation based fuzzy controller. The system philosophy is inspired by human routing when moving between obstacles based on visual information including right and left views to identify the next step to the goal. A Sugeno-type fuzzy motion planner of four inputs one output is introduced to give a clear direction to the robot controller. The second stage is a modified proportional navigation based fuzzy controller based on the proportional navigation guidance law and able to optimize the robot's behavior in real time, i.e. to avoid stationary and moving obstacles in its local environment obeying kinematics constraints. The system has an intelligent combination of two behaviors to cope with obstacle avoidance as well as approaching a target using a proportional navigation path. The system was simulated and tested on different environments with various obstacle distributions. The simulation reveals that the system gives good results for various simple environments.

Item type: Conference or Workshop Item (Paper)
ID code: 37125
Keywords: collision avoidance, fuzzy control , mobile robots, navigation , robot dynamics, robot kinematics , Electrical engineering. Electronics Nuclear engineering
Subjects: Technology > Electrical engineering. Electronics Nuclear engineering
Department: Faculty of Engineering > Electronic and Electrical Engineering
Depositing user: Pure Administrator
Date Deposited: 26 Jan 2012 15:04
Last modified: 17 Jun 2015 17:18
URI: http://strathprints.strath.ac.uk/id/eprint/37125

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