Probabilistic Fuzzy Control of Mobile Robots for Range Sensor Based Reactive Navigation

• 作者: Chunlin Chen Tiaojun Xiao
• 来源期刊: 智能控制与自动化(英文)
• 学科: 工学
• 关键词: Mobile ROBOTS PROBABILISTIC Fuzzy System Range Measurement REACTIVE NAVIGATION
• 年，卷（期）: 2011,（2）
• 页码范围: 77-85
• 页数: 9页
• 分类号: TP39

摘要

In this paper, a probabilistic fuzzy approach is proposed for mobile-robot reactive navigation using range sensors. The primary motivation is an integrated reactive navigation control system with good real-time performance under uncertainty. To accomplish this aim, a probabilistic fuzzy logic system (PFLS) is introduced to range measurement and reactive navigation in local environments. PFLS is first adopted to handle the fuzzy and stochastic uncertainties in range sensors and to provide more precise distance information in unknown environments. Consequently these sensor data are sent to a probabilistic fuzzy rule-based inference system with reactive behaviors for local navigation. The feasibility and effectiveness of the proposed approach are verified by simulation and the experiments on a real mobile robot.