Fuzzy Configuration Space for Moving Obstacle Avoidance of Autonomous Mobile Robots
Jorge Guerra, Hajime Nobuhara, and Kaoru Hirota
Department of Computational Intelligence and Systems Science,Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, G3-49, 4259 Nagatsuta, Midori-ku, Yokohama 226-8502, Japan
A fuzzy configuration space description method that provides the path planning solution for autonomous mobile robots in dynamically changing environment is proposed based on a hybrid planning algorithm that combines total solutions and reactive control through fuzzy proximity measures. The system (made with C++) that monitors and controls mobile robots remotely is created using a multithreaded model while taking advantage of high performance OpenGL routines to counter the increase in computational cost generated by this approach. Experiments on a real Lego robot are performed using a personal computer with a 1.5GHz Pentium4 CPU and a CCD camera. The efficiency of the hybrid algorithm and the potential of this approach, as a distributed system, in greatly changing dynamic environments are shown. The system provides a starting point for further development of distributed robotic systems, for application in human support tasks where interaction with nonprecise human behaviors are better mentioned with fuzzy parameters.
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