A travelling control of mobile robot based on sonar sensors

This paper describes the design and real implementation of wall following and fuzzy perception concept with a non-holonomic mobile robot named KHAN-Robo. 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...

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Bibliographic Details
Published in2015 15th International Conference on Control, Automation and Systems (ICCAS) pp. 1241 - 1243
Main Authors Byoung-Kyun Shim, Jun-Seok Yang, Eok-Gon Kim, Yang-Keun Jeong, Jong Bum Won, Sung-Hyun Han
Format Conference Proceeding
LanguageEnglish
Published Institute of Control, Robotics and Systems - ICROS 01.10.2015
Subjects
Biological system modeling
Fuzzy Controller
Mobile robots
Navigation
Non-holonomic Mobile Robot
Robot Navigation
Ultrasonic Sensor
Vehicles
Wheels
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Summary:This paper describes the design and real implementation of wall following and fuzzy perception concept with a non-holonomic mobile robot named KHAN-Robo. 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 KHAN-Robo autonomous vehicle, demonstrate the robustness of the proposed method.
ISSN:2093-7121
DOI:10.1109/ICCAS.2015.7364821