| Title |
GA-Fuzzy based Navigation of Multiple Mobile Robots in Unknown Dynamic Environments |
| Authors |
조연(Zhao, Ran) ; 이홍규(Lee, Hong-Kyu) |
| DOI |
https://doi.org/10.5370/KIEE.2017.66.1.114 |
| Keywords |
Robot navigation ; Fuzzy ; Dynamic environments ; Genetic algorithm ; Multiple robots |
| Abstract |
The work present in this paper deals with a navigation problem for multiple mobile robots in unknown indoor environments. The environments are completely unknown to the robots; thus, proximity sensors installed on the robots' bodies must be used to detect information about the surroundings. The environments simulated in this work are dynamic ones which contain not only static but also moving obstacles. In order to guide the robot to move along a collision-free path and reach the goal, this paper presented a navigation method based on fuzzy approach. Then genetic algorithms were applied to optimize the membership functions and rules of the fuzzy controller. The simulation results verified that the proposed method effectively addresses the mobile robot navigation problem. |