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Robust Real-time Control of Autonomous Mobile Robot Based on Ultrasonic and Infrared sensors
노연판쿠웨트,한성현,Nguyen, Van-Quyet,Han, Sung-Hyun The Korean Society of Manufacturing Technology Eng 2010 한국공작기계학회지 Vol.19 No.1
This paper presents a new approach to obstacle avoidance for mobile robot in unknown or partially unknown environments. The method combines two navigation subsystems: low level and high level. The low level subsystem takes part in the control of linear, angular velocities using a multivariable PI controller, and the nonlinear position control. The high level subsystem uses ultrasonic and IR sensors to detect the unknown obstacle include static and dynamic obstacle. This approach provides both obstacle avoidance and target-following behaviors and uses only the local information for decision making for the next action. Also, we propose a new algorithm for the identification and solution of the local minima situation during the robot's traversal using the set of fuzzy rules. The system has been successfully demonstrated by simulations and experiments.
Robust Real-time Control of Autonomous Mobile Robot Based on Ultrasonic and Infrared sensors
Van-Quyet Nguyen(노연판쿠웨트),Sung-Hyun Han(한성현) 한국생산제조학회 2010 한국생산제조학회지 Vol.19 No.1
This paper presents a new approach to obstacle avoidance for mobile robot in unknown or partially unknown environments. The method combines two navigation subsystems: low level and high level. The low level subsystem takes part in the control of linear, angular velocities using a multivariable PI controller, and the nonlinear position control. The high level subsystem uses ultrasonic and IR sensors to detect the unknown obstacle include static and dynamic obstacle. This approach provides both obstacle avoidance and target-following behaviors and uses only the local information for decision making for the next action. Also, we propose a new algorithm for the identification and solution of the local minima situation during the robot’s traversal using the set of fuzzy rules. The system has been successfully demonstrated by simulations and experiments.