Full metadata record
DC Field | Value | Language |
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dc.contributor.author | Kim, Jinwook | - |
dc.contributor.author | Kim, Yoon-Gu | - |
dc.contributor.author | An, Jinung | - |
dc.date.accessioned | 2021-04-26T08:05:13Z | - |
dc.date.available | 2021-04-26T08:05:13Z | - |
dc.date.created | 2018-03-29 | - |
dc.date.issued | 2011 | - |
dc.identifier.citation | International Journal of Advanced Robotic Systems, v.8, no.5, pp.39 - 48 | - |
dc.identifier.issn | 1729-8814 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/13419 | - |
dc.description.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. | - |
dc.language | English | - |
dc.publisher | SAGE PUBLICATIONS INC | - |
dc.title | A Fuzzy Obstacle Avoidance Controller Using a Lookup-Table Sharing Method and Its Applications for Mobile Robots | - |
dc.type | Article | - |
dc.identifier.doi | 10.5772/45700 | - |
dc.identifier.wosid | 000298320800004 | - |
dc.identifier.scopusid | 2-s2.0-84948730352 | - |
dc.type.local | Article(Overseas) | - |
dc.type.rims | ART | - |
dc.description.journalClass | 1 | - |
dc.citation.publicationname | International Journal of Advanced Robotic Systems | - |
dc.contributor.nonIdAuthor | Kim, Jinwook | - |
dc.contributor.nonIdAuthor | Kim, Yoon-Gu | - |
dc.identifier.citationVolume | 8 | - |
dc.identifier.citationNumber | 5 | - |
dc.identifier.citationStartPage | 39 | - |
dc.identifier.citationEndPage | 48 | - |
dc.identifier.citationTitle | International Journal of Advanced Robotic Systems | - |
dc.description.isOpenAccess | Y | - |
dc.subject.keywordAuthor | Autonomous Navigation | - |
dc.subject.keywordAuthor | Obstacle Avoidance | - |
dc.subject.keywordAuthor | Fuzzy Controller | - |
dc.subject.keywordAuthor | Mobile Robot | - |
dc.subject.keywordAuthor | Lookup Table | - |
dc.contributor.affiliatedAuthor | Kim, Jinwook | - |
dc.contributor.affiliatedAuthor | Kim, Yoon-Gu | - |
dc.contributor.affiliatedAuthor | An, Jinung | - |