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Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance.

Park JW, Kwak HJ, Kang YC, Kim DW - Comput Intell Neurosci (2016)

Bottom Line: An advanced fuzzy potential field method for mobile robot obstacle avoidance is proposed.The potential field method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of experts.This study also examines the rule-explosion problem of conventional fuzzy logic and assesses the performance of our proposed AFPFM through simulations carried out using a mobile robot.

View Article: PubMed Central - PubMed

Affiliation: Department of Electronic Engineering, Incheon National University, Incheon 402-752, Republic of Korea.

ABSTRACT
An advanced fuzzy potential field method for mobile robot obstacle avoidance is proposed. The potential field method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of experts. The design of a fuzzy controller--advanced fuzzy potential field method (AFPFM)--that models and enhances the conventional potential field method is proposed and discussed. This study also examines the rule-explosion problem of conventional fuzzy logic and assesses the performance of our proposed AFPFM through simulations carried out using a mobile robot.

No MeSH data available.


The simulation for passing through the narrow passages: (a) the conventional PFM and (b) the AFPFM.
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fig13: The simulation for passing through the narrow passages: (a) the conventional PFM and (b) the AFPFM.

Mentions: The simulation shown in Figure 13 represents the robot that passed through narrow passages with raised spots of 0 m, 0.2 m, and 0.4 m in height. Typically, when a robot passes through such passages, raised spots can disturb the robot and cause oscillations. The aim of this simulation, however, was for the robot to exit this obstacle course safely, without wild oscillations. The robot in Figure 13(a) used the conventional PFM, while the robot in Figure 13(b) used the proposed AFPFM. In narrow passages, the robots using the conventional PFM were more sensitive to disturbance and less stable than those using the proposed AFPFM.


Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance.

Park JW, Kwak HJ, Kang YC, Kim DW - Comput Intell Neurosci (2016)

The simulation for passing through the narrow passages: (a) the conventional PFM and (b) the AFPFM.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4829793&req=5

fig13: The simulation for passing through the narrow passages: (a) the conventional PFM and (b) the AFPFM.
Mentions: The simulation shown in Figure 13 represents the robot that passed through narrow passages with raised spots of 0 m, 0.2 m, and 0.4 m in height. Typically, when a robot passes through such passages, raised spots can disturb the robot and cause oscillations. The aim of this simulation, however, was for the robot to exit this obstacle course safely, without wild oscillations. The robot in Figure 13(a) used the conventional PFM, while the robot in Figure 13(b) used the proposed AFPFM. In narrow passages, the robots using the conventional PFM were more sensitive to disturbance and less stable than those using the proposed AFPFM.

Bottom Line: An advanced fuzzy potential field method for mobile robot obstacle avoidance is proposed.The potential field method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of experts.This study also examines the rule-explosion problem of conventional fuzzy logic and assesses the performance of our proposed AFPFM through simulations carried out using a mobile robot.

View Article: PubMed Central - PubMed

Affiliation: Department of Electronic Engineering, Incheon National University, Incheon 402-752, Republic of Korea.

ABSTRACT
An advanced fuzzy potential field method for mobile robot obstacle avoidance is proposed. The potential field method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of experts. The design of a fuzzy controller--advanced fuzzy potential field method (AFPFM)--that models and enhances the conventional potential field method is proposed and discussed. This study also examines the rule-explosion problem of conventional fuzzy logic and assesses the performance of our proposed AFPFM through simulations carried out using a mobile robot.

No MeSH data available.