Paper Info
Title
A preference-based fuzzy behaviors method for autonomous robot navigation in dense environment
Abstract
One of the current challenges in the development of robot navigation systems is making them capable of intelligent and suitable responses to the complex and changing environments. The navigation of the robot's behavior becomes very challenging when it is under complex and dynamic environments. Autonomous navigation systems for mobile robots have been well developed for a wide range of planar ground-based tasks. This paper presents a novel prefence-based fuzzy behavioral scheme for navigating an unmanned vehicle in dense 3-D environments. The 3-D navigation problem is divided into several identical 2-D navigation sub-problems, each of which is solved by using preference-based fuzzy behaviors. A new defuzzification algorithm that steers the robot by finding the centroid of a 3-D convex region of maximum volume in the 3-D solution region is developed. A fuzzy speed control system is also developed to ensure efficient and safe navigation.
Year
DOI
Venue
2013
10.1109/ROBIO.2013.6739763
ROBIO
Keywords
Field
DocType
autonomous navigation,planar ground-based tasks,dense 3d environment,preference-based fuzzy control behaviors,mobile robots,2d navigation subproblems,3d navigation problem,velocity control,autonomous robot navigation,path planning,preference-based fuzzy behaviors method,3d solution region,fuzzy speed control system,defuzzification algorithm,fuzzy control,3-d navigation,unmanned vehicle navigation,3d convex region,3-d defuzzification
Motion planning,Robot control,Defuzzification,Fuzzy logic,Control engineering,Mobile robot navigation,Fuzzy control system,Engineering,Robot,Mobile robot
Conference
Citations 
PageRank 
References 
0
0.34
9
Authors
5
Name
Order
Citations
PageRank
Dongqing Shi1736.55
Xiang-Rong Xu268.01
Hao Xu300.34
Chongzhi Song400.68
Hong Su500.34