| Autor: |
Sung-Hyun Han, In-Man Park, Moon-Youl Park, Ki-Won Sung, Won-Jun Hwang, Sung-Won Jung, Byoung-Kyun Shim |
| Rok vydání: |
2013 |
| Předmět: |
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| Zdroj: |
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013). |
| DOI: |
10.1109/iccas.2013.6703951 |
| Popis: |
We propose a new approach to control of mobile robot of trajectory following and fuzzy perception concept with a nonholonomic mobile robot named ROBO-N. The main focus of this paper is obtaining a fuzzy perception of the environment in the design of each reactive behavior and solving the problem of behavior combination to implement a fuzzy behavior based control architecture. It should be remarked that, the proposed technique of the nonholonomic constraints are considered in the design of each behavior. Furthermore, in order to improve the capabilities of the intelligent control system and its practical applicability, teleoperation and planned behaviors, together with their combination with reactive ones, have been considered. Experimental results, of an application to control the ROBO-N Robot autonomous vehicle, demonstrate the robustness of the proposed method. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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