Perception for mobile robot navigation: A survey of the state of the art The experimental model of the mobile robot and the simulation of the neuro-fuzzy algorithm used for its control are presented in the article. The algorithm of neuro-fuzzy inference used in two modular control system for movement of a mobile robot is given in the article. The article describes the movement of a mobile robot based on two modular neuro-fuzzy system. Structural and schematic circuit of four-wheels mobile robot are presented in the article. In the second mode, the mobile robot looks for an target in unknown space. In the first mode the mobile robot moves along a line. The article considers the fuzzy model for navigation of a mobile robot operating in two modes. Two modular neuro-fuzzy system for mobile robot navigationīobyr, M. This paper will report on the various rule modules and methods of navigation in use, or under development at CESAR, using the HERMIES-IIB robot as a testbed. Modules are being developed or enhanced for navigating from a map, searching for a target, exploring, artificial potential-field navigation, navigation using edge-detection, etc. Rule modules can be added the rule base as they are developed and tested. In using this approach, the navigation is not restricted to one methodology since the expert system can activate a rule module for the methodology best suited for the current situation. The research uses an expert system for high-level planning interfaced with C-coded routines for implementing the plans, and for quick processing of data requested by the expert system. ![]() ![]() One important research focus of the Center for Engineering Systems Advanced researchmore » (CESAR) at Oak Ridge National Laboratory, is autonomous navigation in unknown and dynamic environments using the series of HERMIES mobile robots. Many different methodologies have been developed for autonomous robot navigation, but each methodology is usually restricted to a particular type of environment. Various algorithms have been perfected for navigation in a known static environment but navigation in an unknown and dynamic environment poses a much more challenging problem for researchers. Not only are theoretical studies being simulated on sophisticated computers, but many mobile robots are now used as test vehicles for these theoretical studies. ![]() In recent years robot navigation has attracted much attention from researchers around the world. Robot navigation research using the HERMIES mobile robotĭOE Office of Scientific and Technical Information (OSTI.GOV)
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