AN INTEGRATED SYSTEM IS PROPOSED FOR THE CONTROL OF A MOBILE ROBOT ON BOTH A LOCAL AND GLOBAL LEVEL. THE LOCAL CONTROLLER USES FUZZY REASONING AND ULTRASONIC SENSING TO GUIDE A MOBILE ROBOT ALONG A SPECIFIC PATH SEGMENT, WITHOUT PHYSICAL GUIDANCE AND WITHOUT PRIOR KNOWLEDGE OF THE PATH. IT IS ABLE TO STEER THE ROBOT ALONG STRAIGHT SEGMENTS, LEFT/RIGHT TURNS AND AVOID COLLISION WITH OBSTACLES. THE GLOBAL CONTROLLER USES A WORLD MAP REPRESENTATION OF THE FACTORY TO PLAN THE DISPATCHING AND THE ROUTING OF THE MOBILE ROBOT.
| Number of Pages : | 12 |
| Published : | 06/01/1994 |
