The Fuzzy Control of the Unknown Obstacles Avoidance for the Mobile Robots

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概要

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• In this paper, we investigate the path following control strategy for a mobile robot with unknown obstacles detected on the planned path. For a known space with known obstacles, the path planning methods can generate the shortest collision-free path from the start to the end. The unknown obstacles may appear on the planned path and the mobile may not follow the original path. The obstacle avoidance mode is added into the controller in the research. Fuzzy controllers with the five distance sensors on the mobile can guide the mobile successfully. The computer simulations are given to verify the proposed algorithm. We find that locations and directions of the distance sensors will affect the results.

• 一般社団法人日本機械学会の論文

著者

• WU Jian

  Department of Pharmacology, School of Pharmacy, Second Military Medical University

• WANG Chen

  Department of Pharmaceutical Analysis, School of Pharmacy, Second Military Medical University

• Wang Chen

  Department Of Pharmaceutical Analysis School Of Pharmacy Second Military Medical University

• Wu Jian

  Department Of Mechanical Engineering Da-yeh University

• Wu Jian

  Department Of Electronic Chemistry Interdisciplinary Graduate School Of Science And Engineering Toky

• Chen Chih

  Department of Mechanical Engineering, Da-Yeh University

• Chen Chih

  Department Of Mechanical Engineering Da-yeh University

• Wang Chen

  Department Of Mechanical Engineering National Central University

• Wu Jian

  Department Of Applied Biology & Chemical Technology The Hong Kong Polytechnic University

• Wang Chen

  Department Of Endocrinology And Metabolism Shanghai Jiao Tong University Affiliated Sixth People&apo

• Wang Chen

  Department Of Mechanical Engineering Da-yeh University

• Wang Chen

  Department Of Chemistry The State Key Laboratory Of Coordination Chemistry Nanjing University

• Chen Chih

  Department of Electronic Engineering, Feng-Chia University, Taichung 407, Taiwan

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