Abstract
This two-part series discusses a novel design and application of fuzzy modeling, There are two types of fuzzy modeling: (1) imitating expert experience or implementing engineering knowledge and (2) modeling a complex or unknown system. In Part I of this paper, the second type of fuzzy modeling is employed to define Fuzzy Potential Energy (FPE). Different FPE values are then assigned into a workspace to construct a spatial model for robot navigation. How the FPE guides a robot is revealed by its gradient directions. A workspace that contains a U-shaped obstacle is used as an example to illustrate the FPE applications. Two situations, one with the start position outside the U-shaped obstacle and the other with the start position inside, are discussed. The discussions show that FPE provides a way to merge both global and local path-planning strategies. The proposed FPE concretely improves traditional path planning strategy. This two-part series pioneers a novel design and application of fuzzy modeling for path planing and motion control.
| Original language | English |
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| Pages | 313-318 |
| Number of pages | 6 |
| DOIs | |
| State | Published - 25 May 2003 |
| Event | The IEEE International conference on Fuzzy Systems - St. Louis, MO, United States Duration: 25 May 2003 → 28 May 2003 |
Conference
| Conference | The IEEE International conference on Fuzzy Systems |
|---|---|
| Country/Territory | United States |
| City | St. Louis, MO |
| Period | 25/05/03 → 28/05/03 |
Keywords
- Fuzzy modeling
- Fuzzy Set Theory
- Robot Navigation