Ιδρυματικό Αποθετήριο
Πολυτεχνείο Κρήτης
Πολυτεχνείο Κρήτης
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| URI | http://purl.tuc.gr/dl/dias/FB0C6C41-A34A-4D0B-B052-9CEA6AB35B1E | - |
| Αναγνωριστικό | https://doi.org/10.1109/70.954761 | - |
| Γλώσσα | en | - |
| Μέγεθος | 8 pages | en |
| Τίτλος | Autonomous vehicle navigation utilizing electrostatic potential fields and fuzzy logic | en |
| Δημιουργός | K. P. Valavanis | en |
| Δημιουργός | Tsourveloudis Nikolaos | en |
| Δημιουργός | Τσουρβελουδης Νικολαος | el |
| Δημιουργός | T. Hebert | en |
| Εκδότης | IEEE | en |
| Περίληψη | An electrostatic potential field (EPF) path planner is combined with a two-layered fuzzy logic inference engine and implemented for real-time mobile robot navigation in a 2-D dynamic environment. The environment is first mapped into a resistor network; an electrostatic potential field is then created through current injection into the network. The path of maximum current through the network corresponds to the approximately optimum path in the environment. The first layer of the fuzzy logic inference engine performs sensor fusion from sensor readings into a fuzzy variable, collision, providing information about possible collisions in four directions, front, back, left and right. The second layer guarantees collision avoidance with dynamic obstacles while following the trajectory generated by the electrostatic potential field. The proposed approach is experimentally tested using the Nomad 200 mobile robot | en |
| Τύπος | Peer-Reviewed Journal Publication | en |
| Τύπος | Δημοσίευση σε Περιοδικό με Κριτές | el |
| Άδεια Χρήσης | http://creativecommons.org/licenses/by/4.0/ | en |
| Ημερομηνία | 2015-10-07 | - |
| Ημερομηνία Δημοσίευσης | 2001 | - |
| Θεματική Κατηγορία | Electrostatic potential field | en |
| Θεματική Κατηγορία | Robot programming | en |
| Θεματική Κατηγορία | robots programming | en |
| Θεματική Κατηγορία | robot programming | en |
| Βιβλιογραφική Αναφορά | N. C. Tsourveloudis , K. P. Valavanis, T. Hebert, 'Autonomous vehicle navigation utilizing electrostatic potential fields and fuzzy logic', IEEE Trans.s on Rob. and Autom., vol. 17, no 4, pp. 490-497, 2001.doi:10.1109/70.954761 | en |
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