Fuzzy Range Sensor Filtering for Reactive Autonomous Robots

摘要

This paper deals with the application of fuzzy logic to one of the navigational components of an indoor autonomous system implemented by means of intelligent agents. The most well known arguments supporting fuzzy control are the ability to cope with imprecise information in heuristic rule based knowledge and sensor measurements. Autonomous navigation based on ultrasonic sensors can provide an imprecise perception of the environment due to problems like crosstalking, noise and poor reliability. We propose a sensor fusion method based on history: the fuzzy sonar filtering. 1. INTRODUCTION The operation of an autonomous mobile robot in a real world unstructured environment requires consideration of multiple issues. Principally, the controller must be able to operate under conditions of imprecision and uncertainty. To cope with these difficulties, the controller must be able to respond reactively to unforeseen events as soon as they are perceived. This can be achieved by decomposition of ...