An insect like navigation mobile robot based on lyapunov control and fuzzy logic technique
Date
2012
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Abstract
A novel reactive navigation strategy is tested in this thesis, in both simulation and experiment. Previous methods in the literature mostly use path planning strategies to avoid all obstacles in the environment, assuming all obstacles can be reliably located and classified. An alternative strategy relies on sensing only immediate obstacles in the path and avoiding them using a reactive strategy-similar to how an insect avoids obstacles in a natural environment. A reactive strategy is investigated in this thesis, consisting of three basic components: 1) a fuzzy-logic algorithm for choosing the heading based on a target location and perceived immediate-obstacle directions, 2) a nonlinear closed-loop control system that commands appropriate angular velocities for achieving the heading, and 3) a fuzzy obstacle ahead truth value term added directly to commanded angular and translational velocities which immediately changes robot direction to avoid imminent collisions. The proposed strategy is tested in a simulation of a maze-like environment, and the effect of all controller parameters is evaluated through extensive testing. An experimental mobile robot, using a laser range finder to detect obstacles and GPS to determine ultimate target locations, uses the algorithm to navigate around a tree in an outdoor environment.
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Bibliography: p. 96-102
Many pages are in colour.
Many pages are in colour.
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Citation
Lei, T. (2012). An insect like navigation mobile robot based on lyapunov control and fuzzy logic technique (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/4768