Multi-Behavior-Based Path Planning for Indoor Mobile Robot

DOI

10.2991/mic-15.2015.10How to use a DOI?

Keywords

indoor mobile robot; path planning; fuzzy logic; behavior fusion

Abstract

To figure out a local path planning for mobile robot during its autonomous navigation indoors, the paper presents a behavioral fusion path planning on the basis of fuzzy logic, in which positioning method of robot is based on RFID technology. Through using twenty-four ultrasonic sensors to collect information in the external environment, it integrates behavioral control with fuzzy control to create a path planner made up of Goal Seeker, Obstacle Avoider, Obstacle Following Behavior Controller, Behavior Weighting Controller, and finally brings up a new fusion behavioral algorithm, whose validity and feasibility are confirmed by tests in its software emulation platform and physical robot system.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chen Hongxu
AU  - He Guotian
PY  - 2015/08
DA  - 2015/08
TI  - Multi-Behavior-Based Path Planning for Indoor Mobile Robot
BT  - Proceedings of the 2nd International Conference on Modelling, Identification and Control
PB  - Atlantis Press
SP  - 44
EP  - 51
SN  - 1951-6851
UR  - https://doi.org/10.2991/mic-15.2015.10
DO  - 10.2991/mic-15.2015.10
ID  - Hongxu2015/08
ER  -