Intelligent Autonomous Navigation System for the Wheeled Mobile Robot

Abstract

An intelligent behavior control system for an autonomous mobile robot operating in an unstructured environment with sensor uncertainties is proposed. This study focuses on implementing and improving the methodology from Motlagh et al. [7] on a two-wheeled P3DX mobile robot. Motlagh et al. verified their design with computer simulation. When applying it on a real robot platform, we noticed some problems and improved the design using sensor selection strategy, safe rule and target switching strategy. The proposed sensor fusion architecture introduces two additional sensors, a laser range finder on the robot and an omnidirectional CCD camera on the ceiling, to improve the reliability of the sensing capability of P3DX mobile robot. The target switching strategy is used to guide the robot out of a dead zone and reach the target by creating a virtual target. Results of the experiments with the U-shaped and subspace dead zones are presented. These results proved that the target switching strategy successfully dealt with the loop path problem in the dead zone.

Intelligent multi-behavior control and coordination for the autonomous differential drive mobile robot

“…The sonar pointed at the surface and rotated manually in steps of 2.5° while recording the angular information and the distance reading from the sensor. Proceedings of 2013 International Conference on Fuzzy Theory and Its Application National Taiwan University of Science and Technology, Taipei, Taiwan, Dec. [6][7][8]2013 The error in equation (10) defined as the difference between the average sensor reading μ and true value r.…”

“…Proceedings of 2013 International Conference on Fuzzy Theory and Its Application National Taiwan University of Science and Technology, Taipei, Taiwan, Dec. [6][7][8]2013 Proceedings of 2013 International Conference on Fuzzy Theory and Its Application National Taiwan University of Science and Technology, Taipei, Taiwan, Dec. [6][7][8]2013 The performances of the sonar and laser range finder and the trajectory accumulation error for both of the nominal robots are evaluated. Those experiments have confirmed the uncertainties and errors may come from the sensors, network delay and system.…”

“…Proceedings of 2013 International Conference on Fuzzy Theory and Its Application National Taiwan University of Science and Technology, Taipei, Taiwan, Dec. [6][7][8]2013 the low level control system on the grou and through the proposed reasoning me a control decision (velocity and steeri mitted to the low-level control system. was used as the wireless communication Four terrain scenarios are used to e posed system as shown in Fig.…”

“…However, there is discrepancy between the simulated and actual path especially around the corners [6].…”

A fuzzy logic navigated service mobile robot

“…An intelligent behavior control system for an autonomous mobile robot operating in an unstructured environment with sensor uncertainties is proposed [4]. The proposed sensor fusion architecture introduces two additional sensors, a laser range finder on the robot and an omnidirectional CCD camera on the ceiling, to improve the reliability of the sensing capability of P3DX mobile robot.…”