Abstract
Safe and autonomous driving is one of the most important challenges in mobile robotics and has been received considerable attention over die past years in indoor and outdoor navigations. Most methods developed so far immediately activate an obstacle avoidance algorithm when a robot meets obstacles without predicting the motion of the obstacle. These methods would be inefficient for the navigation in urban environments with traffic lane because the traffic lane becomes a constraint in the robot motion. For the safe driving in urban environments, it is efficient to consider this constraint before performing an obstacle avoidance algorithm in the planning phase when the robot meets an obstacle. Therefore, a decision making algorithm for safe driving in case of navigating on the road is needed. In terms of its simplicity and its short response time, a fuzzy algorithm is especially suitable for real-time applications. In this paper, we propose a fuzzy-based decision making algorithm for the outdoor navigation of mobile robots. The algorithm is tested in crossroad environment. To satisfy the robot's safety requirements and to spend less time on the intersection, we designed our navigation algorithm consists of two primary parts: perception (understanding environment) and decision making part. This paper focuses on the decision making part. Simulation results show the algorithm's effectiveness.
| Original language | English |
|---|---|
| Title of host publication | ICCAS 2007 - International Conference on Control, Automation and Systems |
| Pages | 678-683 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2007 Dec 1 |
| Event | International Conference on Control, Automation and Systems, ICCAS 2007 - Seoul, Korea, Republic of Duration: 2007 Oct 17 → 2007 Oct 20 |
Other
| Other | International Conference on Control, Automation and Systems, ICCAS 2007 |
|---|---|
| Country | Korea, Republic of |
| City | Seoul |
| Period | 07/10/17 → 07/10/20 |
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Keywords
- Fuzzy-based decision making
- Mobile robot
- Safe driving
- Urban environment
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
A fuzzy decision making algorithm for safe driving in urban environment. / Kim, Sun D.; Roh, Chi W.; Kang, Sung Chul; Song, Jae-Bok.
ICCAS 2007 - International Conference on Control, Automation and Systems. 2007. p. 678-683 4406985.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - A fuzzy decision making algorithm for safe driving in urban environment
AU - Kim, Sun D.
AU - Roh, Chi W.
AU - Kang, Sung Chul
AU - Song, Jae-Bok
PY - 2007/12/1
Y1 - 2007/12/1
N2 - Safe and autonomous driving is one of the most important challenges in mobile robotics and has been received considerable attention over die past years in indoor and outdoor navigations. Most methods developed so far immediately activate an obstacle avoidance algorithm when a robot meets obstacles without predicting the motion of the obstacle. These methods would be inefficient for the navigation in urban environments with traffic lane because the traffic lane becomes a constraint in the robot motion. For the safe driving in urban environments, it is efficient to consider this constraint before performing an obstacle avoidance algorithm in the planning phase when the robot meets an obstacle. Therefore, a decision making algorithm for safe driving in case of navigating on the road is needed. In terms of its simplicity and its short response time, a fuzzy algorithm is especially suitable for real-time applications. In this paper, we propose a fuzzy-based decision making algorithm for the outdoor navigation of mobile robots. The algorithm is tested in crossroad environment. To satisfy the robot's safety requirements and to spend less time on the intersection, we designed our navigation algorithm consists of two primary parts: perception (understanding environment) and decision making part. This paper focuses on the decision making part. Simulation results show the algorithm's effectiveness.
AB - Safe and autonomous driving is one of the most important challenges in mobile robotics and has been received considerable attention over die past years in indoor and outdoor navigations. Most methods developed so far immediately activate an obstacle avoidance algorithm when a robot meets obstacles without predicting the motion of the obstacle. These methods would be inefficient for the navigation in urban environments with traffic lane because the traffic lane becomes a constraint in the robot motion. For the safe driving in urban environments, it is efficient to consider this constraint before performing an obstacle avoidance algorithm in the planning phase when the robot meets an obstacle. Therefore, a decision making algorithm for safe driving in case of navigating on the road is needed. In terms of its simplicity and its short response time, a fuzzy algorithm is especially suitable for real-time applications. In this paper, we propose a fuzzy-based decision making algorithm for the outdoor navigation of mobile robots. The algorithm is tested in crossroad environment. To satisfy the robot's safety requirements and to spend less time on the intersection, we designed our navigation algorithm consists of two primary parts: perception (understanding environment) and decision making part. This paper focuses on the decision making part. Simulation results show the algorithm's effectiveness.
KW - Fuzzy-based decision making
KW - Mobile robot
KW - Safe driving
KW - Urban environment
UR - http://www.scopus.com/inward/record.url?scp=48349115131&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=48349115131&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2007.4406985
DO - 10.1109/ICCAS.2007.4406985
M3 - Conference contribution
AN - SCOPUS:48349115131
SN - 8995003871
SN - 9788995003879
SP - 678
EP - 683
BT - ICCAS 2007 - International Conference on Control, Automation and Systems
ER -