Simple path planning system using fuzzy rules and a potential field

Yuji Makita, Masafumi Hagiwara, Masao Nakagawa

研究成果: Paper査読

17 被引用数 (Scopus)

抄録

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.

本文言語English
ページ994-999
ページ数6
出版ステータスPublished - 1994 12月 1
イベントProceedings of the 3rd IEEE Conference on Fuzzy Systems. Part 3 (of 3) - Orlando, FL, USA
継続期間: 1994 6月 261994 6月 29

Other

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

ASJC Scopus subject areas

  • ソフトウェア
  • 理論的コンピュータサイエンス
  • 人工知能
  • 応用数学

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