A Fuzzy Obstacle Avoidance Controller Using a Lookup-Table Sharing Method and Its Applications for Mobile Robots

International Journal of Advanced Robotic Systems

关键词: Autonomous Navigation;    Obstacle Avoidance;    Fuzzy Controller;    Mobile Robot;    Lookup Table.;   

DOI  :  10.5772/45700

学科分类：自动化工程

来源: InTech

【 摘 要 】

A Lookup-Table (LUT) based design enhances the processing speed of a fuzzy obstacle avoidance controller by reducing the operation time. Also, a LUT sharing method provides efficient ways of reducing the LUT memory size. In order to share the LUT which is used for a fuzzy obstacle avoidance controller, an idea of using a basis function is developed. As applications of the shared LUT-based fuzzy controller, a laser-sensor-based fuzzy controller and an ultrasonic-sensor-based fuzzy controller are introduced in this paper. This paper suggests a LUT sharing method that reduces the LUT buffer size without a significant degradation of the performance. The LUT sharing method makes the buffer size independent of the fuzzy system's complexity. A simulation using MSRDS (Microsoft Robotics Developer Studio) is used to evaluate the proposed method. To investigate the performance of the controller, experiments are carried out using a Pioneer P3-DX with LabVIEW as an integration tool. Although the simulation and experi...

【 授权许可】

CC BY