Authors:
Madjid Hank
and
Moussa Haddad
Affiliation:
Ecole Militaire Polytechnique, Algeria
Keyword(s):
Autonomous Mobile Robots, Navigation, Trajectory Tracking and Planning, RPA, Fuzzy Logic.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Computational Intelligence
;
Control and Supervision Systems
;
Fuzzy Control
;
Fuzzy Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Soft Computing
Abstract:
In this paper, we are interested on the development of hybrid control architecture for autonomous mobile robots navigation. The proposed approach consists of an architecture adapted for partially known environments. It includes both reactive navigation methods based on the principle of Sense & Act and deliberative methods based on the principle of Sense-Plan & Act. The used reactive navigation method is a behavioural approach for navigation in unknown environments. Whereas deliberative approach is based on a polynomial method called Random-Profile-Approach (RPA) for optimal trajectory planning in known environments. Controllers used for both trajectories tracking and reactive navigation are fuzzy inference systems. Simulation and experimental results to validate the proposed navigation strategy are presented.