Fuzzy hybrid navigation of an active mobile robotic assistant: A multisensory fusion approach

This paper presents methodologies and techniques for multi-sensory fuzzy hybrid navigation of an active mobile robot assistant for the elderly people in known, cluttered and dynamic indoor environments. For self-localization, the geometric and topological representations are combined together to mai...

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Bibliographic Details
Published in2007 IEEE Workshop on Advanced Robotics and Its Social Impacts pp. 1 - 6
Main Authors Ching-Chih Tsai, Ssu-Min Hu, Hsu-Chih Huang, Shih-Min Hsieh
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2007
Subjects
Adaptive control
behavior
Dynamic programming
Fuzzy control
Indoor environments
localization
mobile robot assistant
Mobile robots
multisensory fusion
Navigation
Programmable control
Radiofrequency identification
Senior citizens
Velocity control
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Summary:This paper presents methodologies and techniques for multi-sensory fuzzy hybrid navigation of an active mobile robot assistant for the elderly people in known, cluttered and dynamic indoor environments. For self-localization, the geometric and topological representations are combined together to maintain the advantages of them and counteract their disadvantages. By using RFID system, the estimation of position hypothesis for similar regions in a known environment can be reduced. The global optimal path composed of via points is determined by using Dijkstra's dynamic programming approach. Fuzzy adaptive speed control law is designed to make the robot adapt to various users' speeds. Safe fuzzy hybrid navigation is achieved by fusing adaptive speed, goal-seeking and obstacle- avoidance from the sensing data of laser scanner and ultrasonic rangers. In addition, Experimental results are conducted to show the effectiveness and merits of the proposed methods.
ISBN:9781424419524
1424419522
ISSN:2162-7568
2162-7576
DOI:10.1109/ARSO.2007.4531423