Abstract
This paper describes a novel navigation and obstacle avoidance system for robotic manipulators. The system is divided into separate fuzzy units which individually control the links of a manipulator. The rule base of each unit combines the repelling influence of obstacles with the attracting influence of the target position in a fuzzy way to generate actuating commands for the link. Owing to its simplicity and hence its short response time, the fuzzy navigator is especially suitable in on-line applications with strong real-time requirements. Furthermore, this approach allows obstacle avoidance in dynamic environments. The functioning of the fuzzy navigator with respect to robotic manipulators and results of real-world experiments are presented.
| Original language | British English |
|---|---|
| Pages (from-to) | 179-188 |
| Number of pages | 10 |
| Journal | International Journal of Uncertainty, Fuzziness and Knowldege-Based Systems |
| Volume | 6 |
| Issue number | 2 |
| DOIs | |
| State | Published - Apr 1998 |
Keywords
- Fuzzy logic
- Navigation
- Obstacle avoidance
- Robotic manipulators