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이동 로봇의 장애물회피를 위한 퍼지제어기와 실시간 제어시스템 적용을 위한 저(低)복잡도 검색테이블 공유기법
- 이동 로봇의 장애물회피를 위한 퍼지제어기와 실시간 제어시스템 적용을 위한 저(低)복잡도 검색테이블 공유기법
- Translated Title
- A Fuzzy Controller for Obstacle Avoidance Robots and Lower Complexity Lookup- Table Sharing Method Applicable to Real-time Control Systems
- 김진욱; 김윤구; 안진웅
- DGIST Authors
- Issue Date
- 한국정밀공학회지, 27(2), 60-69
- Autonomous Navigation (자율주행); Obstacle Avoidance (장애물 회피); Fuzzy Controller (퍼지 제어기); Mobile Robot (이동 로봇); Lookup Table (검색테이블)
- Lookup-Table (LUT) based fuzzy controller for obstacle avoidance enhances operations faster in multiple obstacles environment. An LUT based fuzzy controller with Positive/Negative (P/N) fuzzy rule base consisting of 18 rules was introduced in our paper 1and this paper shows a 50-rule P/N fuzzy controller for enhancing performance in obstacle avoidance. As a rule, the more rules are necessary, the more buffers are required. This paper suggests LUT sharing method in order to reduce LUT buffer size without significant degradation of performance. The LUT sharing method makes buffer size independent of the whole fuzzy system’s complexity. Simulation using MSRDS(MicroSoft Robotics Developer Studio) evaluates the proposed method, and in order to investigate its performance, experiments are carried out to Pioneer P3-DX in the LabVIEW environment. The simulation and experiments show little difference between the fully valued LUTbased method and the LUT sharing method in operation times. On the other hand, LUT sharing method reduced its buffer size by about 95% of full valued LUT-based design.
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