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Fuzzy Logic Supervised Teleoperation Control for Mobile Robot
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作者 RAHMAN Nasir 黄强 +2 位作者 李京涛 曾直 李科杰 《Journal of Beijing Institute of Technology》 EI CAS 2008年第4期445-450,共6页
Abstract: The supervised teleoperation control is presented for a mobile robot to implement the tasks by using fuzzy logic. The teleoperation control system includes joystick based user interaction mechanism, the hig... Abstract: The supervised teleoperation control is presented for a mobile robot to implement the tasks by using fuzzy logic. The teleoperation control system includes joystick based user interaction mechanism, the high level instruction set and fuzzy logic behaviors integrated in a supervised autonomy teleoperation control system for indoor navigation. These behaviors include left wall following, right wall following, turn left, turn right, left obstacle avoidance, right obstacle avoidance and corridor following based on ultrasonic range finders data. The robot compares the instructive high level command from the operator and relays back a suggestive signal back to the operator in case of mismatch between environment and instructive command. This strategy relieves the operator's cognitive burden, handle unforeseen situations and uncertainties of environment autonomously. The effectiveness of the proposed method for navigation in an unstructured environment is verified by experiments conducted on a mobile robot equipped with only ultrasonic range finders for environment sensing. 展开更多
关键词 fuzzy behaviors supervised autonomy unstructured environment ultrasonic range finders
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