Trajectory planning of autonomous robot using advanced fuzzy controller

To move a obstacle from a certain position to the predefined destination, robot needs various kinds of elements, like control algorithm, hardware, etc. General human can selects the distance between him and destination by numerical supervised learning, and establish the moving plan to the destinatio...

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Bibliographic Details
Main Authors: Sungha Kim, Chisung Park, Hyun Lee, Jangmyung Lee
Format: Conference Proceeding
Language:English
Subjects:
Fuzzy
Fuzzy control
GPS
Hardware
Humans
Mobile robots
Motion planning
optimal path
Path planning
Remotely operated vehicles
Roads
Supervised learning
Trajectory
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Summary:To move a obstacle from a certain position to the predefined destination, robot needs various kinds of elements, like control algorithm, hardware, etc. General human can selects the distance between him and destination by numerical supervised learning, and establish the moving plan to the destination, generally called `Trajectory planning.' He(or she) can make a trajectory planning against the obstacles which is placed on the path to the destination. The kinds of obstacle can be active obstacle, which is moving on the trajectory, or passive obstacle, which is stationary one. For the kinds of stationary obstacle is height difference between road and sidewalk, stairs, a ramp. And the active obstacles include a human, a vehicle that shows active motion. To make a trajectory planning for the stationary obstacle, autonomous mobile robot can be assume that it is placed at the center of the map, and from the distance information between autonomous mobile robot and obstacles using the advanced fuzzy controller, mobile robot can make a trajectory planning. But in case of active moving obstacle, there are many components and information is needed to process because its moving trace should be considered in real time. As mentioned above, for the proposed algorithm, various kinds of things should be considered to move to the destination. Obviously, autonomous driving of the mobile robot can provide conveniences to the human-being with the various kinds of aspects. In this paper, obstacle avoidance algorithm for the trajectory planning using advanced fuzzy controller is described in detail, and demonstrated proposed algorithm through the real experiment.
DOI:10.1109/ICINFA.2010.5512384