Open Science Research Excellence
%0 Journal Article
%A Jonqlan Lin and  C. Y. Tasi and  K. H. Lin
%D 2015 
%J  International Journal of Electrical, Computer, Energetic, Electronic and Communication Engineering
%B World Academy of Science, Engineering and Technology
%I International Science Index 100, 2015
%T Hybrid Control Mode Based On Multi-Sensor Information by Fuzzy Approach for Navigation Task of Autonomous Mobile Robot
%U http://waset.org/publications/10000927
%V 100
%X This paper addresses the issue of the autonomous
mobile robot (AMR) navigation task based on the hybrid control
modes. The novel hybrid control mode, based on multi-sensors
information by using the fuzzy approach, has been presented in this
research. The system operates in real time, is robust, enables the robot
to operate with imprecise knowledge, and takes into account the
physical limitations of the environment in which the robot moves,
obtaining satisfactory responses for a large number of different
situations. An experiment is simulated and carried out with a pioneer
mobile robot. From the experimental results, the effectiveness and
usefulness of the proposed AMR obstacle avoidance and navigation
scheme are confirmed. The experimental results show the feasibility,
and the control system has improved the navigation accuracy. The
implementation of the controller is robust, has a low execution time,
and allows an easy design and tuning of the fuzzy knowledge base.

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