Fast and smooth replanning for navigation in partially unknown terrain: The hybrid Fuzzy-D*lite algorithm

N. H. Reyes*, A. L. C. Barczak, T. Susnjak, A. Jordan

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

2 Citations (Scopus)

Abstract

This paper presents a hybrid Fuzzy-D*lite algorithm for smoothly navigating robots in an unknown terrain, in real-time. D*lite is a clever optimal, incremental and heuristic search algorithm that is known to be capable of achieving a speed up of one to two orders of magnitude over repeated A* searches. Given a target destination and an incomplete map, it is able to generate a sequence of waypoints for a robot, on the fly, performing course corrections whenever necessary, at a reduced computational time and memory footprint due to its incremental search capability. On the other hand, a cascade of fuzzy systems designed to take advantage of symmetry in the problem domain implements target pursuit and stationary spinning behaviours, for a two-wheeled robot. These reactionary systems calculate the exact steering angle and speed adjustments, enabling the robot to navigate smoothly and fast.We demonstrate howthese complementary algorithms can be fused together to achieve smooth and fast continuous re-planning actions in a partially unknown terrain.

Original languageEnglish
Title of host publicationRobot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications
EditorsFakhri Karray, Jong-Hwan Kim, Hyun Myung, Jun Jo, Peter Sincak
PublisherSpringer-Verlag London Ltd.
Pages31-41
Number of pages11
ISBN (Print)9783319312910
DOIs
Publication statusPublished - 2017
Externally publishedYes
Event4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015 - Bucheon, Korea, Republic of
Duration: 14 Dec 201516 Dec 2015
Conference number: 4th

Publication series

NameAdvances in Intelligent Systems and Computing
Volume447
ISSN (Print)2194-5357

Conference

Conference4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015
Abbreviated titleRiTA
Country/TerritoryKorea, Republic of
CityBucheon
Period14/12/1516/12/15

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