Development of a new minimum avoidance system for a behavior-based mobile robot
A new fuzzy logic algorithm is developed for mobile robot navigation in local environments. A Pioneer robot perceives its environment through an array of eight sonar sensors and self positioning-localization sensors. While the fuzzy logic body of the algorithm performs the main tasks of obstacle avo...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Elsevier
2009
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| Online Access: | http://psasir.upm.edu.my/id/eprint/40063/ http://psasir.upm.edu.my/id/eprint/40063/1/Development%20of%20a%20new%20minimum%20avoidance%20system%20for%20a%20behavior-based%20mobile%20robot.pdf |
| _version_ | 1848849319217594368 |
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| author | Motlagh, Omid Reza Esmaeili Tang, Sai Hong Ismail, Napsiah |
| author_facet | Motlagh, Omid Reza Esmaeili Tang, Sai Hong Ismail, Napsiah |
| author_sort | Motlagh, Omid Reza Esmaeili |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | A new fuzzy logic algorithm is developed for mobile robot navigation in local environments. A Pioneer robot perceives its environment through an array of eight sonar sensors and self positioning-localization sensors. While the fuzzy logic body of the algorithm performs the main tasks of obstacle avoidance and target seeking, an actual–virtual target switching strategy resolves the problem of limit cycles in any type of dead-ends encountered on the way to the target. This is an advantage beyond pure fuzzy logic approach and common virtual target techniques. In this work, multiple traps may have any shape or arrangement from barriers forming simple corners and U-shape dead-ends to loops, maze, snail shape, and other complicated shapes. Robot trajectories are demonstrated by simulation work and compared with results from other related methods to prove the robustness of this method. |
| first_indexed | 2025-11-15T09:48:30Z |
| format | Article |
| id | upm-40063 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T09:48:30Z |
| publishDate | 2009 |
| publisher | Elsevier |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-400632015-08-27T06:14:27Z http://psasir.upm.edu.my/id/eprint/40063/ Development of a new minimum avoidance system for a behavior-based mobile robot Motlagh, Omid Reza Esmaeili Tang, Sai Hong Ismail, Napsiah A new fuzzy logic algorithm is developed for mobile robot navigation in local environments. A Pioneer robot perceives its environment through an array of eight sonar sensors and self positioning-localization sensors. While the fuzzy logic body of the algorithm performs the main tasks of obstacle avoidance and target seeking, an actual–virtual target switching strategy resolves the problem of limit cycles in any type of dead-ends encountered on the way to the target. This is an advantage beyond pure fuzzy logic approach and common virtual target techniques. In this work, multiple traps may have any shape or arrangement from barriers forming simple corners and U-shape dead-ends to loops, maze, snail shape, and other complicated shapes. Robot trajectories are demonstrated by simulation work and compared with results from other related methods to prove the robustness of this method. Elsevier 2009-07 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/40063/1/Development%20of%20a%20new%20minimum%20avoidance%20system%20for%20a%20behavior-based%20mobile%20robot.pdf Motlagh, Omid Reza Esmaeili and Tang, Sai Hong and Ismail, Napsiah (2009) Development of a new minimum avoidance system for a behavior-based mobile robot. Fuzzy Sets and Systems, 160 (13). pp. 1929-1946. ISSN 0165-0114; ESSN: 1872-6801 http://www.sciencedirect.com/science/article/pii/S0165011408004417 10.1016/j.fss.2008.09.015 |
| spellingShingle | Motlagh, Omid Reza Esmaeili Tang, Sai Hong Ismail, Napsiah Development of a new minimum avoidance system for a behavior-based mobile robot |
| title | Development of a new minimum avoidance system for a behavior-based mobile robot |
| title_full | Development of a new minimum avoidance system for a behavior-based mobile robot |
| title_fullStr | Development of a new minimum avoidance system for a behavior-based mobile robot |
| title_full_unstemmed | Development of a new minimum avoidance system for a behavior-based mobile robot |
| title_short | Development of a new minimum avoidance system for a behavior-based mobile robot |
| title_sort | development of a new minimum avoidance system for a behavior-based mobile robot |
| url | http://psasir.upm.edu.my/id/eprint/40063/ http://psasir.upm.edu.my/id/eprint/40063/ http://psasir.upm.edu.my/id/eprint/40063/ http://psasir.upm.edu.my/id/eprint/40063/1/Development%20of%20a%20new%20minimum%20avoidance%20system%20for%20a%20behavior-based%20mobile%20robot.pdf |