Virtual force field algorithm for a behaviour-based autonomous robot in unknown environments

• Main Authors: Nakhaeinia, Danial, Tang, Sai Hong, Karasfi, Babak, Motlagh, Omid Reza Esmaeili, Kit, A. C.
• Format: Article
• Language: English
• Published: Sage Publications 2011
• Online Access: http://psasir.upm.edu.my/id/eprint/22951/1/Virtual%20force%20field%20algorithm%20for%20a%20behaviour-based%20autonomous%20robot%20in%20unknown%20environments.pdf; http://psasir.upm.edu.my/id/eprint/22951/; http://pii.sagepub.com/content/225/1/51.short
• Institution: Universiti Putra Malaysia

The present paper describes a real-time motion-planning approach which lies in the integration of three techniques: fuzzy logic (FL), virtual force field (VFF), and boundary following (BF). The FL algorithm is used for velocity control based on sonar readings. The path-planning algorithm is based on...