Research on Autonomous Obstacle Avoidance of Mobile Robot Based on Hybrid System

2015 ◽  
Vol 738-739 ◽  
pp. 1012-1017
Author(s):  
Yang Liu
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Hybrid System ◽  
Autonomous Navigation ◽  
Working Environment ◽  
Hybrid Automata ◽  
Matlab Simulation

The working environment of mobile robot has become more and more complex. Through researching on hybrid system, this paper presents a system of autonomous obstacle avoidance for mobile robot. A series of autonomous navigation behaviors is designed individually. By using hybrid automata, these designed autonomous navigation behaviors fuse together in the autonomous obstacle avoidance system. The Matlab simulation shows that the whole system is effective and feasible.

scholarly journals Autonomous system to control a mobile robot

2020 ◽  
Vol 9 (4) ◽  
pp. 1711-1717
Author(s):  
Ayman Abu Baker ◽  
Yazeed Yasin Ghadi
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Autonomous Navigation ◽  
Fuzzy Controller ◽  
Computational Time ◽  
Ongoing Effort ◽  
Unstructured Environment ◽  
Adaptive Inference ◽  
Real Time Applications ◽  
Linguistic Labels

This paper presents an ongoing effort to control a mobile robot in unstructured environment. Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits. In this paper, the fuzzy controller is used to tackle the problem of mobile robot autonomous navigation in unstructured environment. The objective is to make the robot move along a collision free trajectory until it reaches its target. The proposed approach uses the fuzzified, adaptive inference engine and defuzzification engine. Also number of linguistic labels is optimized for the input of the mobile robot in order to reduce computational time for real-time applications. The proposed fuzzy controller is evaluated subjectively and objectively with other approaches and also the processing time is taken in consideration.

Obstacle Avoidance Control Method of Mobile Robot Motion

2013 ◽  
Vol 443 ◽  
pp. 119-122
Author(s):  
Bin Zhou ◽  
Jin Fa Qian
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Control Method ◽  
Intelligent System ◽  
Development Trend ◽  
Working Environment ◽  
Intelligent Algorithm ◽  
Control Field ◽  
Avoidance Control ◽  
The Development Trend

Mobile robot is an intelligent system which can move freely and is scheduled to complete the task in the working environment. Obstacle avoidance of mobile robot is the research hotspot in the control field of the mobile robot. The mobile robot obstacle avoidance methods are classified, including the traditional algorithms and the intelligent algorithms. This paper summarizes the intelligent algorithm in the mobile robot obstacle avoidance technique in the present situation, and the intelligent algorithm which is the most researched in the current. Finally, this paper prospects the development trend of intelligent obstacle avoidance of the robot.

Development of Autonomous Mobile Robot for Obstacle Avoidance

1993 ◽  
Vol 5 (5) ◽  
pp. 481-486 ◽  
Author(s):  
Masafumi Uchida ◽  
◽  
Syuichi Yokoyama ◽  
Hideto Ide ◽  
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Potential Method ◽  
Working Environment ◽  
Planning Problem ◽  
Autonomous Mobile Robot ◽  
The Real

The potential method is superior for solving the problem of motion planning; however, it must address the problem of the real-time generation of potential field. Obstacle avoidance is a motion planning problem. In a previous study, we investigated the real-time generation of potential field. Based on parallel processing with element group, we proposed the system by Sensory Point Moving (SPM) method. As a result of computer simulation, it was confirmed that the SPM method is effective for generating an obstacle avoidance path in 2-D and a more complex working environment like a 3-D one. In this paper, we discuss the development of autonomous mobile robot for obstacle avoidance based on the SPM method.

Research of Autonomous Navigation Path Planning Based on the Sage_Husa Adaptive Filter for Mobile Robot

2013 ◽  
Vol 433-435 ◽  
pp. 1567-1571 ◽  
Author(s):  
Yun Liu ◽  
Dean Zhao ◽  
Jun Zhang ◽  
Yun Zhang
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Autonomous Navigation ◽  
Dynamic Performance ◽  
Matlab Simulation ◽  
Navigation Path ◽  
Control Command ◽  
The Stability ◽  
Adaptive Pid Control ◽  
Fuzzy Adaptive

By applying data fusions from GPS and MEMS sensors to plan and track path, and achieve the goal of mobile robot autonomous navigation. An improved filtering method based on Sage_Husa filtering is described, which can effectively restrain the filtering divergence, improve dynamic performance of filter, enhance stability and adaptability of filter, and improve navigation precision. With fuzzy adaptive PID control, the stability of control system is guaranteed with control strategy adjustment in real time. Finally, it is programmed that converting the fusion of high-precision GPS and attitude information into control command so as to succeed in robot navigation and real-time display on map. The feasibility and effectiveness of methods described above are verified and proved by experiments and MATLAB simulation.

Research and Design of Range Positioning System Based on Ultrasonic Sensor for Intelligent Mobile Robot

2011 ◽  
Vol 201-203 ◽  
pp. 1886-1890 ◽  
Author(s):  
Jun Han ◽  
Rui Li Chang
Keyword(s):  
Power Consumption ◽  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Intelligent Control ◽  
Autonomous Navigation ◽  
Ultrasonic Sensor ◽  
Positioning System ◽  
Large Power ◽  
Research And Design ◽  
Important Branch

The technology of mobile robot is an important branch in robot research. In order to endow robot with capacity of intelligent control and autonomous navigation, and solve the problems such as high cost and large power consumption, a range positioning system based on ultrasonic sensor for intelligent mobile robot is designed in this paper. The system makes robot achieve some functions such as alarming, obstacle avoidance and the positioning.

Obstacle Avoidance and Navigation of Autonomous Mobile Robot

2011 ◽  
Vol 403-408 ◽  
pp. 4633-4642 ◽  
Author(s):  
Rekha Raja ◽  
S N. Shome ◽  
S. Nandy ◽  
R. Ray
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Autonomous Navigation ◽  
Fuzzy Logic Controller ◽  
Classical Method ◽  
Obstacle Detection ◽  
Autonomous Mobile Robot ◽  
Unstructured Environment ◽  
Multiple Obstacles ◽  
Robot Platform

This paper presents a hybrid obstacle avoidance methodology for autonomous navigation of a mobile robot in an unstructured environment. Decision is taken based on the classical method depending on the environmental scenario where the space between multiple obstacles is measured and the feasibility of passing the robot through any immediate pair of obstacles examined. In other cases, the decision is taken by the Fuzzy Logic controller. The developed algorithm is simulated and experimentally validated with a mobile robot platform equipped with forward-looking sonar for obstacle detection. Odometry sensors assist in localization of the mobile robot. The developed algorithm is found adequately intelligent to navigate the robot from any start position through to the desired goal position avoiding obstacles, and without taking recourse to any pre-built map. The simulated results exhibit fair agreement with the experimental results.

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