Extending Fuzzy Directional Relationship and Applying for Mobile Robot Collision Avoidance Behavior
Long Thanh Ngo*, Long The Pham*, Phuong Hoang Nguyen**,
and Kaoru Hirota***
*Center of Simulation Technology, Le Quy Don Technical University, 100-Hoang Quoc Viet Rd., Cau Giay Dist., Hanoi, Vietnam
**Center of Health Information Technology, Ministry of Health, 3-Phuong Mai St., Dong Da Dist., Hanoi, Vietnam
***Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, G3-49, 4259 Nagatsuta, Modori-ku, Yokohama 226-8502, Japan
Fuzzy directional relationship is extended from crisp spatial relationship and applied for many problems as image processing, scene description. This paper deals with fuzzy directional relationship and proposes an approach to extend fuzzy directional relation for robot navigation based on behavior. Fuzzy directional relation is used to model the unknown environment perceived by mobile robot. Collision avoidance behavior is built for mobile robot to avoid obstacles based on fuzzy logic controller whose inputs are fuzzy relationship and range to obstacle. The simulated results on graphic environment are showed to demonstrate our approach.
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