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Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/870

Title: Intelligent Fuzzy Interface Technique for the Control of an Autonomous Mobile Root
Authors: Parhi, D R
Singh, M K
Keywords: Autonomous robots
Dynamic environment
Fuzzy logic
Navigation
Issue Date: 2008
Publisher: Professional Engineering
Citation: Professional Engineering, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Volume 222, Issue 11, November 2008, Pages 2281-2292.
Abstract: In this article, research has been carried out on the control technique of an autonomous mobile robot to navigate in a real-world environment, avoiding structured and unstructured obstacles, especially in a crowded and unpredictably changing environment. Here a successful way of structuring the navigation task, dealing with the issues of individual robot behaviours, is discussed. Action coordination of the behaviours has been addressed using fuzzy logic in the present research. The inputs to the proposed fuzzy-control scheme consist of a heading angle between a robot and a specified target, and the distances between the robot and the obstacles to the left, front, and right of its locations, being acquired by an array of sensors. The proposed intelligent controller for mobile robot navigation algorithm employing fuzzy theory has been applied in a complex environment. The results are verified in simulation and experimental modes, which are in good agreement
URI: http://10.1243/09544062JMES955
http://hdl.handle.net/2080/870
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