지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국지능시스템학회 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS Vol.12 No.3
- 발행연도
- 2012.9
- 수록면
- 245 - 249 (5page)
이용수
초록· 키워드
오류제보하기
In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an ultrasonic sensor. Instead of using “sensor fusion” method which generates the trajectory of a robot based upon the environment model and sensory data, “command fusion” method is used to govern the robot motions. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process.
목차
Abstract
1. INTRODUCTION
2. FUZZY CONTROLLER DESIGN
3. BEHAVIOR HIERARCHY BY FUZZY LOGIC
4. EXPERIMENTS
5. CONCLUSIONS
ACKNOWLEDGMENT
REFERENCES
참고문헌 (10)
참고문헌 신청
L. A. Zadeh / 1973 / Outline of a New Approach to the Analysis of Complex Systems and Decision Processes / IEEE Transactions on Systems, Man, and Cybernetics 3(1):28~44
D. Nair / 1998 / Moving Obstacle Detection from a Navigation Robot / IEEE Trans. on robotics and automation 14(3):404~416
S. Bentalba / 1997 / Fuzzy Control of a Mobile Robot: a New Approach / Proc. IEEE International Conference on Control Applications :69~72
H. R. Beom / 1995 / A sensor-Based Navigation for a Mobile Robot Using Fuzzy Logic and Reinforcement Learning / IEEE Trans. on system, man, and cybernetics 25(3):464~477
A. Ohya / 1998 / Vision-Based Navigation by a Mobile Robot with Obstacle Avoidance Using Single-Camera Vision and Ultrasonic Sensing / IEEE Transactions on Robotics and Automation 14(6):969~978
D. Nair / 1998 / Moving Obstacle Detection from a Navigation Robot / IEEE Trans. on robotics and automation 14(3):404~416
S. Bentalba / 1997 / Fuzzy Control of a Mobile Robot: a New Approach / Proc. IEEE International Conference on Control Applications :69~72
H. R. Beom / 1995 / A sensor-Based Navigation for a Mobile Robot Using Fuzzy Logic and Reinforcement Learning / IEEE Trans. on system, man, and cybernetics 25(3):464~477
A. Ohya / 1998 / Vision-Based Navigation by a Mobile Robot with Obstacle Avoidance Using Single-Camera Vision and Ultrasonic Sensing / IEEE Transactions on Robotics and Automation 14(6):969~978
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UCI(KEPA) : I410-ECN-0101-2014-028-001358044