퍼지 규칙을 이용한 비전 및 무선 센서 네트워크 기반의 이동로봇의 자율 주행 및 위치 인식

Abstract

Algorithms of path planning and obstacle avoidance are essential to autonomous mobile robots that are working in unknown environments in the real time. This paper presents a new navigation algorithm of an autonomous mobile robot with vision, IR sensors and Zigbee sensor network using fuzzy rules. Temporary targets are set up by distance variation method and then the algorithms of trajectory planning, obstacle avoidance and localization are designed using fuzzy rules. An autonomous mobile robot with single vision and IR sensors, Zigbee sensor network is built up for experiments. We also show that the proposed algorithms are working well in complex unknown environments.