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A fuzzy system for indoor mobile robot navigation

: Surmann, H.; Huser, J.; Peters, L.

Fulltext urn:nbn:de:0011-9505231 (145 KByte PDF)
MD5 Fingerprint: 6731ccec90e451bf7cb06f7ffb2d7ded
Created on: 2.10.2008

IEEE Neural Network Council:
IEEE International Conference on Fuzzy Systems 1995. Proceedings. Vol.1 : The International Joint Conference of the Fourth IEEE International Conference on Fuzzy Systems and the Second International Fuzzy Engineering Symposium, March 20 - 24, 1995, Yokohama, Japan
Piscataway, NJ: IEEE, 1995
ISBN: 0-7803-2461-7
ISBN: 0-7803-2462-5
ISBN: 0-7803-2463-3
International Conference on Fuzzy Systems <4, 1995, Yokohama>
International Fuzzy Engineering Symposium <2, 1995, Yokohama>
Conference Paper, Electronic Publication
Fraunhofer AIS ( IAIS) ()

An autonomous mobile robot (AMR) has to cope with uncertain, incomplete or approximate information. Moreover it has to identify sudden perceptual situations to manoeuvre in real time. This paper describes a fuzzy rule based system
(FRBS) approach controlling the movement of an autonomous mobile robot (MORIA). Difficult guiding and controlling properties of the robot are achieved by combining local actions and global strategies within the fuzzy controller. Different behaviors and perceptions are detected with the help of fuzzy rules and stored in fuzzy state variables (FSV). These state variables activate different fuzzy rule sets which in turn change the behavior of the fuzzy controller.