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1998 (EN)
Fuzzy navigation for robotic manipulators (EN)

Seneviratne, LD (EN)
Althoefer, K (EN)
Zavlangas, P (EN)
Krekelberg, B (EN)

N/A (EN)

This paper describes a novel navigation and obstacle avoidance system for robotic manipulators. The system is divided into separate fuzzy units which individually control the links of a manipulator. The rule base of each unit combines the repelling influence of obstacles with the attracting influence of the target position in a fuzzy way to generate actuating commands for the link. Owing to its simplicity and hence its short response time, the fuzzy navigator is especially suitable in on-line applications with strong real-time requirements. Furthermore, this approach allows obstacle avoidance in dynamic environments. The functioning of the fuzzy navigator with respect to robotic manipulators and results of real-world experiments are presented. (EN)

journalArticle

Fuzzy logic (EN)
Navigation (EN)
Obstacle avoidance (EN)
Robotic manipulators (EN)

Εθνικό Μετσόβιο Πολυτεχνείο (EL)
National Technical University of Athens (EN)

International Journal of Uncertainty, Fuzziness and Knowlege-Based Systems (EN)

1998


N/A (EN)



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