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A fuzzy navigation system for mobile construction robots

source

Automation in Construction 6 (2) (1997) pp. 97-107

summary

Fuzzy navigation systems control a robot by implementing a fuzzy logic controller (FLC). Fuzzy navigation systems are simpler to implement than other navigation systems because they can handle infinite navigation situations with a finite set of rules. Existing fuzzy navigation systems for path finding in an unknown environment tend to find the shortest path in convex obstacle fields, but fail when obstacles are concave or placed continuously in certain configurations. This paper presents a fuzzy navigation system that can escape from concave and maze-like obstacle fields in an unknown environment. The system combines a tangent algorithm for path planning with sets of linguistic fuzzy control rules. In particular, we introduce the control rules for a Tracking mode of the FLC and improvements to the commonly used, intuitively reasonable tangent algorithm.