Fuzzy Potential Energy for a Map Approach to Robot navigation

A full autonomous robot needs a flexible map to solve frequent change of robot situations and/or tasks. In this paper, based on the second type of fuzzy modeling, Fuzzy Potential Energy (FPE) is proposed to build a map that facilitates to plan robot tasks for real paths. Three rules for making use of FPEs are derived to ground the basic ideas of building a map for task navigation. To code qualitative information into quantity, the proposed FPE provides a way to quickly And a path for conducting the designated task or solving a robot under an embarrassing situation. This paper pioneers novel design and application of fuzzy modeling for a special map that exploits innovation usage of task navigation for real paths. For emphasizing the benefits of the FPE, two illustrative examples, containing three spatial patterns, doors, corridors and cul-de-sac, are also included.

[1]  Danny Ziyi Chen,et al.  A framed-quadtree approach for determining Euclidean shortest paths in a 2-D environment , 1997, IEEE Trans. Robotics Autom..

[2]  D. T. Lee,et al.  Generalization of Voronoi Diagrams in the Plane , 1981, SIAM J. Comput..

[3]  S. Arimoto,et al.  Path Planning Using a Tangent Graph for Mobile Robots Among Polygonal and Curved Obstacles , 1992 .

[4]  L. P. Holmblad,et al.  CONTROL OF A CEMENT KILN BY FUZZY LOGIC , 1993 .

[5]  Larry S. Davis,et al.  Multiresolution path planning for mobile robots , 1986, IEEE J. Robotics Autom..

[6]  Leonidas J. Guibas,et al.  Visibility of disjoint polygons , 2005, Algorithmica.

[7]  Tsu-Tian Lee,et al.  Fuzzy modeling. Part I: A spatial model approach for robot navigation via fuzzy potential energy , 2003, The 12th IEEE International Conference on Fuzzy Systems, 2003. FUZZ '03..

[8]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1986 .

[9]  Kazuo Tanaka,et al.  Stability analysis and design of fuzzy control systems , 1992 .

[10]  Roland Siegwart,et al.  Hybrid simultaneous localization and map building: a natural integration of topological and metric , 2003, Robotics Auton. Syst..

[11]  Kazuo Tanaka,et al.  Corrections To "robust Stabilization Of A Class Of Uncertain Nonlinear Systems Via Fuzzy Control: Quadratic Stabilizability, H Control Theory, And Linear Matrix Inequalities" [Correspondence] , 1997, IEEE Trans. Fuzzy Syst..

[12]  Benjamin Kuipers,et al.  A Robust, Qualitative Method for Robot Spatial Learning , 1988, AAAI.

[13]  Ouahiba Azouaoui,et al.  Fuzzy ArtMap neural network (FAMNN) based collision avoidance approach for autonomous robotic systems (ARS) , 2001, Proceedings of the Second International Workshop on Robot Motion and Control. RoMoCo'01 (IEEE Cat. No.01EX535).

[14]  Ebrahim Mamdani,et al.  Applications of fuzzy algorithms for control of a simple dynamic plant , 1974 .

[15]  Amine Chohra,et al.  Neuro-fuzzy expert system E-S-CO-V for the obstacle avoidance of intelligent autonomous vehicles (IAV) , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[16]  Francesco Zanichelli,et al.  Qualitative spatial representations from task-oriented perception and exploratory behaviors , 1998, Robotics Auton. Syst..

[17]  Micha Sharir,et al.  Retraction: A new approach to motion-planning , 1983, STOC.

[18]  Karen Trovato.  Differential a*: an Adaptive Search Method Illustrated with Robot Path Planning for Moving Obstacles and Goals, and an uncertain Environment , 1990, Int. J. Pattern Recognit. Artif. Intell..

[19]  Yunhui Liu,et al.  Proposal of tangent graph and extended tangent graph for path planning of mobile robots , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[20]  T. Takagi,et al.  A New Approach to Design of Fuzzy Controller , 1983 .

[21]  Chee-Keng Yap,et al.  A "Retraction" Method for Planning the Motion of a Disc , 1985, J. Algorithms.

[22]  M. Sugeno,et al.  Fuzzy Control of Model Car , 1985 .

[23]  Osamu Takahashi,et al.  Motion planning in a plane using generalized Voronoi diagrams , 1989, IEEE Trans. Robotics Autom..

[24]  Kazuo Tanaka,et al.  An approach to fuzzy control of nonlinear systems: stability and design issues , 1996, IEEE Trans. Fuzzy Syst..

[25]  Emo WELZL,et al.  Constructing the Visibility Graph for n-Line Segments in O(n²) Time , 1985, Inf. Process. Lett..

[26]  Hans Rohnert,et al.  Shortest Paths in the Plane with Convex Polygonal Obstacles , 1986, Inf. Process. Lett..

[27]  Lawrence Larkin,et al.  A fuzzy logic controller for aircraft flight control , 1984, The 23rd IEEE Conference on Decision and Control.

[28]  M. Braae,et al.  Theoretical and linguistic aspects of the fuzzy logic controller , 1979, Autom..

[29]  Chieh-Li Chen,et al.  Analysis and design of fuzzy control system , 1993 .

[30]  Benjamin Kuipers,et al.  Navigation and Mapping in Large Scale Space , 1988, AI Mag..

[31]  W. Pedrycz,et al.  FUZZY RULES GENERATION FOR FUZZY CONTROL , 1982 .

[32]  Alberto Elfes,et al.  Sonar-based real-world mapping and navigation , 1987, IEEE J. Robotics Autom..

[33]  Joseph S. B. Mitchell.  Shortest paths among obstacles in the plane , 1996, Int. J. Comput. Geom. Appl..

[34]  Michio Sugeno,et al.  Fuzzy identification of systems and its applications to modeling and control , 1985, IEEE Transactions on Systems, Man, and Cybernetics.

[35]  Marc G. Slack.  Navigation templates: mediating qualitative guidance and quantitative control in mobile robots , 1993, IEEE Trans. Syst. Man Cybern..

[36]  G. Borgefors.  Distance transformations in arbitrary dimensions , 1984 .

[37]  Yunhui Liu,et al.  Finding the shortest path of a disc among polygonal obstacles using a radius-independent graph , 1995, IEEE Trans. Robotics Autom..

[38]  Pradeep K. Khosla,et al.  Manipulator control with superquadric artificial potential functions: theory and experiments , 1990, IEEE Trans. Syst. Man Cybern..

[39]  Tomás Lozano-Pérez,et al.  Spatial Planning: A Configuration Space Approach , 1983, IEEE Transactions on Computers.