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標題: Behavior-Based Navigation Using Heuristic Fuzzy Kohonen Clustering Network for Mobile Service Robots
作者: Tsai, C.C.
Chen, C.C.
Chan, C.K.
Li, Y.Y.
關鍵字: Behavior Navigation;fuzzy Kohonen clustering network (FKCN);Mobile;robot;Omnidirectional;controller
Project: International Journal of Fuzzy Systems
期刊/報告no:: International Journal of Fuzzy Systems, Volume 12, Issue 1, Page(s) 25-32.
This technical note presents a behavior-based navigation method for a mobile service robot with a three-wheeled omnidirectional mobile platform. A heuristic fuzzy Kohonen clustering network (FKCN) is presented to obtain laser area weights and desired robot motion heading for all types of indoor environments. An efficient behavior-based navigation structure is then proposed to merge the heuristic FKCN with three fuzzy behaviors in order to navigate the robot without any collisions in crowded and cluttered indoor environments. Simulation and experimental results are conducted to verify the feasibility and effectiveness of the proposed method.
ISSN: 1562-2479
Appears in Collections:電機工程學系所

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