文章基本信息

标题：Decomposed Fuzzy Controller for Reactive Mobile Robot Navigation
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作者：Munaf S. N. Al-Din
期刊名称：International Journal of Soft Computing & Engineering
电子版ISSN：2231-2307
出版年度：2012
卷号：2
期号：4
页码：140-149
出版社：International Journal of Soft Computing & Engineering
摘要：An Autonomous Mobile Robot is an artificially intelligent vehicle that is capable of traveling in unknown, unstructured environments independently. Among the proposed approaches in the literature to handle the navigation problem of a mobile robot is the simple fuzzy reactive approach. This approach, however, occasionally suffers from two problems the combinatorial explosion of the if-then rules in the inference engine, and finally the lack of a unified fuzzy rule-based system procedure. This paper offers an approach to handle the first two problems. In this paper a new approach to the design of simple fuzzy navigation systems is presented. The proposed approach is based on decomposing MIMO fuzzy logic controller into a number of SISO controllers. This approach has the advantage of greatly reducing the number of if-then rules by introducing weighting factors for the sensor inputs, thus inferring the reflexive conclusions from each input to the system rather than putting all the possible states of all the inputs to infer a single conclusion. Simulation and experimental results are presented to prove the efficiency of the proposed approach for mobile robot navigation in unstructured unknown environment.
关键词：Decomposed fuzzy controller; Mobile robot;Autonomous navigation.