- 期刊
Behavior-Based Navigation Using Heuristic Fuzzy Kohonen Clustering Network for Mobile Service Robots
並列摘要
This technical note presents a behavior-based navigation method for a mobile service robot with a three-wheeled omnidirectional mobile platform. A heuristic fuzzy Kohonen clustering network (FKCN) is presented to obtain laser area weights and desired robot motion heading for all types of indoor environments. An efficient behavior-based navigation structure is then proposed to merge the heuristic FKCN with three fuzzy behaviors in order to navigate the robot without any collisions in crowded and cluttered indoor environments. Simulation and experimental results are conducted to verify the feasibility and effectiveness of the proposed method.
被引用紀錄
Hsieh, C. H. (2015). 透過穿戴式魚眼相機的姿勢偵測 [master's thesis, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU.2015.02229
延伸閱讀
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