• fuzzy control interface and semi-grid d algorithm for robot navigation system

    نویسندگان :
    جزئیات بیشتر مقاله
    • تاریخ ارائه: 1397/12/20
    • تاریخ انتشار در تی پی بین: 1397/12/20
    • تعداد بازدید: 273
    • تعداد پرسش و پاسخ ها: 0
    • شماره تماس دبیرخانه رویداد: -

    navigation in unknown and dynamic environments has been considered as a complex task. we designed a new hierarchy system that contains two levels. planning algorithm runs at first level. we used semi-grid d* as planning algorithm. second level is fuzzy control interface. fuzzy control interface generates smoother paths for passing wide, sharp edged and complex obstacles. fuzzy control interface affects both angle and velocity of robot. also we defined new linguistic variables for features of obstacles that are considered as effective in navigation problem like complexity and obstacle's width. the environments that considered here are unknown and dynamic. we evaluate our work in 3d modeling simulator. results from implementations show accuracy and robustness of our work in various environments.

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