This paper proposes an architecture and a method for the design of a dynamic path planner which utilizes fuzzy logic for navigation of mobile robots in uncertain environments. The method consists of identifying a fuzzy mapping from examples generated by an expert, a model-based path planner. This planner maps the ultrasonic sensor readings and odometer measures to the robot control commands. The correct mapping is found by identifying a set of fuzzy rules from desired input-output data pairs. The effectiveness of the proposed method is verified by a series of simulations.

  • Supplemental Notes:
    • Publication Date: 1995 Published By: Pergamon, Oxford
  • Corporate Authors:

    Universitat Karlsruhe


    Universite de Bordeaux I


    Terza Universita degli studi di Roma


    Institut national des sciences appliquees de Rennes


    Universidad de Oviedo


    Centre National de la Recherche Scientifique

    Lab d'Automatique et d'Analyse des Systemes
    Toulouse,   France 

    Universita di Genova

    ,   Italy 

    Technische Universitat Munchen

    21 Arcesstrasse
    8000 Munich,   Germany 

    Universidad de Sevilla. Departamento de Ingenieria de Sistemas y Automatica


    Universite Paris-Sud. Institut d'electronique fondamentale


    University of Warwick

  • Authors:
    • Alvarez, J C
  • Publication Date: 1995


  • English

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Filing Info

  • Accession Number: 00776331
  • Record Type: Publication
  • Source Agency: UC Berkeley Transportation Library
  • Files: PATH
  • Created Date: Nov 17 1999 12:00AM