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Intelligent Mobile Robot Navigation in an Uncertain Dynamic Environment

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Abstract:

This paper presents a modified sensor-based online method for mobile robot navigation generating paths in dynamic environments. The core of the navigation algorithm is based on the velocity obstacle avoidance method and the guidance-based tracking algorithm. A fuzzy decision maker is designed to combine the two mentioned algorithms intelligently. Hence the robot will be able to decide intelligently in various situations when facing the moving obstacles and moving target. A noble noise cancellation algorithm using Neural Network is designed to navigate the robot in an uncertain dynamic environment safely. The results show that the robot can track a moving target while maneuvering safely in dynamic environment and avoids stationary and moving obstacles.

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Periodical:

Applied Mechanics and Materials (Volume 367)

Pages:

388-392

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.367.388

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Online since:

August 2013

Authors:

Aydin Azizi, Farshid Entesari, Kambiz Ghaemi Osgouie, Mostafa Cheragh

Keywords:

Fuzzy Decision Making, Guidance-Base Tracking, Neural Network (NN), Noise Cancellation, Velocity Obstacle

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© 2013 Trans Tech Publications Ltd. All Rights Reserved

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References

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