In order to navigate autonomously, a mobile robot needs to build an environment map where the robot is navigating. Currently, the sensors are mounted on the robot to detect if the obstacles exist and then the map immediate surrounding of the robot is built to help for navigation path planning. The map created by this method is a local map that may cause global navigation problem which a global coverage map is needed to solve such a problem. In this study, a sensor network is deployed for building global environment map. All the sensor locations are assumed known. The navigation space is divided into grids and a grid is to be detected if obstacles exist by one or a number of sensors. Fuzzy set concept is used to introduce a tool useful for sensor perception. Those sensors work as a team to explore all the space and then the global fuzzy map is constructed. The experiments show that the fuzzy map is more practical and helps the path planning problem to be solved more efficiently.


    Access

    Download


    Export, share and cite



    Title :

    Fuzzy Environment Mapping for Robot Navigation Based on Grid Computing


    Contributors:

    Publication date :

    2010-01-01


    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Fuzzy Logic-Based Navigation for an Autonomous Robot

    Glorennec, P. Y. / International Federation of Automatic Control / Centre national de la recherche scientifique; Laboratoire d'automatique et d'analyse des systemes et al. | British Library Conference Proceedings | 1996


    Mobile Robot Navigation Using Variable Grid Size Based Reinforcement Learning

    Krothapalli, U. / Wagner, T. / Kumar, M. et al. | British Library Conference Proceedings | 2011


    Mobile Robot Navigation Using Variable Grid Size Based Reinforcement Learning

    Krothapalli, Ujwal / Wagner, Timothy / Kumar, Manish | AIAA | 2011


    Fuzzy helps to autonomous mobile robot navigation

    Maaref, H. / Benreguieg, M. / Barret, C. | British Library Online Contents | 1996