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Market-based algorithms and fuzzy methods for the navigation of mobile robots
Örebro University, School of Science and Technology, Örebro University, Sweden. (Mobile Robotics and Olfaction)
Örebro University, School of Science and Technology, Örebro University, Sweden. (Mobile Robotics and Olfaction)
2012 (English)Conference paper, Published paper (Refereed)
Abstract [en]

An important aspect of the navigation of mobile robots is the avoidance of static and dynamic obstacles. This paper deals with obstacle avoidance using artificial potential fields and selected traffic rules. The potential field method is optimized by a mixture of fuzzy methods and market-based optimization (MBO) between competing potential fields of mobile robots. Here, depending on the local situation, some potential fields are strengthened and some are weakened. The optimization takes place especially when several mobile robots act in a small area. In addition, to avoid an undesired behavior of the mobile platform in the vicinity of obstacles, central symmetrical potential fields are `deformed' by using fuzzy rules.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2012. 1-8 p.
Keyword [en]
collision avoidance, fuzzy set theory, mobile robots, optimisation, MBO, artificial potential fields, dynamic obstacle avoidance
National Category
Robotics
Research subject
Computer Science; Electrical Engineering
Identifiers
URN: urn:nbn:se:oru:diva-28822DOI: 10.1109/FUZZ-IEEE.2012.6251228ISI: 000309188200165ISBN: 978-1-4673-1507-4 (print)OAI: oai:DiVA.org:oru-28822DiVA: diva2:618061
Conference
IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), 2012
Note

Rainer Palm is Adjunct Professor at the Department of Technology (AASS), University Örebro since 2004

Available from: 2013-04-25 Created: 2013-04-25 Last updated: 2017-05-31Bibliographically approved

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fulltext(528 kB)260 downloads
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Palm, RainerAbdelbaki, Bouguerra
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf