Simple path planning system using fuzzy rules and a potential field

Yuji Makita, Masafumi Hagiwara, Masao Nakagawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

This paper proposes a simple path planning system using fuzzy rules and a potential field. As an example, we took the problem of backing up a truck to a loading dock which Nguyen and Widrow originally used. We propose a new hybrid method of fuzzy control rules and a potential field for a vehicle navigation and control in the presence of obstacles. This technique has the following merits: 1) As long as we have the map information, we can control a truck to the goal point. 2) We can consider the operator's technique because of using fuzzy logic for a vehicle control. 3) The control method is very simple. The system can successfully back a truck up to the goal point by the following two ideas: 1) a potential field that peaks at the surface of obstacles and contains no spurious local minima. 2) use of simple fuzzy rules whose number is much less than those used by Kong and Kosko.

Original languageEnglish
Title of host publicationIEEE International Conference on Fuzzy Systems
PublisherIEEE
Pages994-999
Number of pages6
Volume2
Publication statusPublished - 1994
EventProceedings of the 3rd IEEE Conference on Fuzzy Systems. Part 3 (of 3) - Orlando, FL, USA
Duration: 1994 Jun 261994 Jun 29

Other

OtherProceedings of the 3rd IEEE Conference on Fuzzy Systems. Part 3 (of 3)
CityOrlando, FL, USA
Period94/6/2694/6/29

Fingerprint

Fuzzy rules
Motion planning
Trucks
Docks
Fuzzy control
Fuzzy logic
Navigation

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Software
  • Safety, Risk, Reliability and Quality

Cite this

Makita, Y., Hagiwara, M., & Nakagawa, M. (1994). Simple path planning system using fuzzy rules and a potential field. In IEEE International Conference on Fuzzy Systems (Vol. 2, pp. 994-999). IEEE.

Simple path planning system using fuzzy rules and a potential field. / Makita, Yuji; Hagiwara, Masafumi; Nakagawa, Masao.

IEEE International Conference on Fuzzy Systems. Vol. 2 IEEE, 1994. p. 994-999.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Makita, Y, Hagiwara, M & Nakagawa, M 1994, Simple path planning system using fuzzy rules and a potential field. in IEEE International Conference on Fuzzy Systems. vol. 2, IEEE, pp. 994-999, Proceedings of the 3rd IEEE Conference on Fuzzy Systems. Part 3 (of 3), Orlando, FL, USA, 94/6/26.
Makita Y, Hagiwara M, Nakagawa M. Simple path planning system using fuzzy rules and a potential field. In IEEE International Conference on Fuzzy Systems. Vol. 2. IEEE. 1994. p. 994-999
Makita, Yuji ; Hagiwara, Masafumi ; Nakagawa, Masao. / Simple path planning system using fuzzy rules and a potential field. IEEE International Conference on Fuzzy Systems. Vol. 2 IEEE, 1994. pp. 994-999
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