Designing an adaptive path execution system

The goal of this research was to develop a fully functional robot in a dynamic environment. The approach to this problem is to plan a path for the robot to move from a starting point using a map that may not have all the current information on the environment. The controller then dynamically reacts...

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Bibliographic Details
Published inConference Proceedings 1991 IEEE International Conference on Systems, Man, and Cybernetics pp. 1459 - 1464 vol.3
Main Authors Yen, J., Pfluger, N.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1991
Subjects
Adaptive systems
Control systems
Fuzzy logic
Humans
Intelligent control
Intelligent robots
Mobile robots
Orbital robotics
Path planning
Robot sensing systems
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Summary:The goal of this research was to develop a fully functional robot in a dynamic environment. The approach to this problem is to plan a path for the robot to move from a starting point using a map that may not have all the current information on the environment. The controller then dynamically reacts in an intelligent fashion to unplanned obstacles along the path. This system attempts to follow the path, adapting its course to the obstacles and shortcuts it perceives along the way. The key element of the approach is in using fuzzy logic to express and manipulate concepts needed for intelligent control. The robot only uses information gathered from the sensors, and avoids dynamically placed obstacles near and along the path.< >
ISBN:0780302338
9780780302334
DOI:10.1109/ICSMC.1991.169894