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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance
Jong-Wook Park1, Hwan-Joo Kwak2, Young-Chang Kang3
1Department 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.
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