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A Fuzzy Obstacle Avoidance Controller Using a Lookup-Table Sharing Method and Its Applications for Mobile Robots

Title
A Fuzzy Obstacle Avoidance Controller Using a Lookup-Table Sharing Method and Its Applications for Mobile Robots
Author(s)
Kim, JinwookKim, Yoon-GuAn, Jinung
DGIST Authors
Kim, JinwookKim, Yoon-GuAn, Jinung
Issued Date
2011
Type
Article
Author Keywords
Autonomous NavigationObstacle AvoidanceFuzzy ControllerMobile RobotLookup Table
ISSN
1729-8814
Abstract
A Lookup-Table (LUT) based design enhances the processing speed of a fuzzy obstacle avoidance controller by reducing the operation time. Also, a LUT sharing method provides efficient ways of reducing the LUT memory size. In order to share the LUT which is used for a fuzzy obstacle avoidance controller, an idea of using a basis function is developed. As applications of the shared LUT-based fuzzy controller, a laser-sensor-based fuzzy controller and an ultrasonic-sensor-based fuzzy controller are introduced in this paper. This paper suggests a LUT sharing method that reduces the LUT buffer size without a significant degradation of the performance. The LUT sharing method makes the buffer size independent of the fuzzy system's complexity. A simulation using MSRDS (Microsoft Robotics Developer Studio) is used to evaluate the proposed method. To investigate the performance of the controller, experiments are carried out using a Pioneer P3-DX with LabVIEW as an integration tool. Although the simulation and experiments show little difference between the fully valued LUT-based method and the LUT sharing method in terms of the operation time, the LUT sharing method reduces almost 95% of the full-valued LUT-based buffer size. © 2011 Kim et al.; licensee InTech.
URI
http://hdl.handle.net/20.500.11750/13419
DOI
10.5772/45700
Publisher
SAGE PUBLICATIONS INC
Related Researcher
  • 안진웅 An, Jinung Division of Intelligent Robotics
  • Research Interests
Files in This Item:
Appears in Collections:
Division of Intelligent Robotics Brain Robot Augmented InteractioN(BRAIN) Laboratory 1. Journal Articles

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