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A fuzzy logic controller for an autonomous mobile robotThe ability of a mobile robot system to plan and move intelligently in a dynamic system is needed if robots are to be useful in areas other than controlled environments. An example of a use for this system is to control an autonomous mobile robot in a space station, or other isolated area where it is hard or impossible for human life to exist for long periods of time (e.g., Mars). The system would allow the robot to be programmed to carry out the duties normally accomplished by a human being. Some of the duties that could be accomplished include operating instruments, transporting objects, and maintenance of the environment. The main focus of our early work has been on developing a fuzzy controller that takes a path and adapts it to a given environment. The robot only uses information gathered from the sensors, but retains the ability to avoid dynamically placed obstacles near and along the path. Our fuzzy logic controller is based on the following algorithm: (1) determine the desired direction of travel; (2) determine the allowed direction of travel; and (3) combine the desired and allowed directions in order to determine a direciton that is both desired and allowed. The desired direction of travel is determined by projecting ahead to a point along the path that is closer to the goal. This gives a local direction of travel for the robot and helps to avoid obstacles.
Document ID
19930013031
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Yen, John
(Texas A&M Univ. College Station, TX, United States)
Pfluger, Nathan
(Texas A&M Univ. College Station, TX, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1993
Publication Information
Publication: NASA. Johnson Space Center, Proceedings of the Third International Workshop on Neural Networks and Fuzzy Logic, Volume 2
Subject Category
Cybernetics
Accession Number
93N22220
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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