文档介绍：Robotics and Autonomous Systems 38 (2002) 1–18
Sensor-based navigation of a mobile robot in
an indoor environment
H. Maaref ∗, C. Barret
plex Systems Group, University of Evry, CE 1455 Courcouronnes, 40 rue du Pelvoux, 91020 Evry Cedex, France
Received 14 December 1998; received in revised form 23 May 2001
Communicated by . Henderson
Abstract
The work presented in this paper deals with the problem of the navigation of a mobile robot either in unknown indoor
environment or in a partially known one.
A navigation method in an unknown environment based on bination of elementary behaviors has been developed.
Most of these behaviors are achieved by means of fuzzy inference systems. The proposed bines two types of
obstacle avoidance behaviors, one for the convex obstacles and one for the concave ones. The use of zero-order Takagi–Sugeno
fuzzy inference systems to generate the elementary behaviors such as “reaching the middle of the collision-free space” and
“wall-following” is quite simple and natural. However, one can always fear that the rules deduced from a simple human
expertise are more or less sub-optimal. This is why we have tried to obtain these rules automatically. A technique based on a
back-propagation-like algorithm is used which permits the on-line optimization of the parameters of a fuzzy inference system,
through the minimization of a cost function. This last point is particularly important in order to extract a set of rules from the
experimental data without having recourse to any empirical approach.
In the case of a partially known environment, a hybrid method is used in order to exploit the advantages of global and local
navigation strategies. The coordination of these strategies is based on a fuzzy inference system by an on-parison
between the real scene and a memorized one. The planning of the itinerary is done by visibility graph and A∗ algorithm. Fuzzy
controllers are achieved, on the one hand, for the following of th