A novel fuzzy three-dimensional grid navigation method for mobile robots

Abstract

The objective of the autonomous navigation aims to achieve the self-motion control for a robot with the environmental feedbacks and becomes popular recently. Problems of complex modeling, large amount of calculation, and lacking of environmental information always exist in autonomous navigation methods. This article proposes a self-navigation method with a fuzzy three-dimensional grid depicted by dual two-dimensional grid maps. Meanwhile, a synthetic preprocess is presented to perform localization through switching among the weighted three-point localization method, the two-point localization method, and the weighted average localization method. For reducing the amount of calculation, an improved fuzzy three-dimensional grid mapping method where the three-dimensional map is described by dual two-dimensional grid maps, the identifier map, and the height map is designed. Especially, the static and dynamic information within the map are divided and updated fuzzily. The global path planning is performed with the static information, and the real-time obstacle avoidance is conducted with the dynamic information. The results of simulations and experiments demonstrate that the proposed method has better properties in efficiency of navigation and lower amount of calculation than the competing methods.

Development of simulation software for mobile robot path planning within multilayer map system based on metric and topological maps

“…This situation is shown in Figure 4(d) and (e) and it was mentioned also in the work of Shi et al 14 We have proposed one possible solution, by means of which the previously mentioned method with three steps can be replaced by a "two-step" process ( Figure 4…”

“…In general, grid maps can be divided into twodimensional (2-D) and three-dimensional (3-D) 14 grid maps, where objects are described by their shape and dimensions. While the traditional 2-D grid map contains less environmental information, the application of a 3-D grid map may be more resource consuming.…”

“…8,9 Recently, many researchers have dealt with the design of control laws for obstacle avoidance and path planning of wheeled (as well as other locomotion systems) mobile robots. 4 Many different methods have been proposed in the literature by Siegwart and Nourbakhsh, 1 Zheng et al, 4 Zavlangas and Tzafestas., 12 Thrun, 11 Hedjar and Bounkhel, 13 Shi et al, 14 and their colleagues, dealing with obstacle avoidance for mobile robotics during last years. The well-known methods among them are the so-called reactive approaches, which have been proposed mainly for a single mobile robot path generation and which are suitable for real-time navigation in unknown environments.…”

Implementation of grey wolf optimization controller for multiple humanoid navigation

“…Chen and Zhang presented a new navigational strategy incorporated with data odometry and electronic compass for navigation of indoor mobile robots . Shi et al developed fuzzy three‐dimensional grid navigational technique for self‐navigation of autonomous mobile robots in complex platforms . Parhi et al designed a hybridized navigational technique by combining adaptive particle swarm optimization and adaptive ant colony optimization.…”

Smart Navigation of Humanoid Robots Using DAYKUN-BIP Virtual Target Displacement and Petri-Net Strategy

“…Dirik 11 discussed a fuzzy-logic-based navigational approach for hassle-free movement of a mobile robotic agent in an indoor arena. Shi et al 12 developed a grid navigation model based on fuzzy concepts and applied the same in simulation and experimental platforms. Al-Mutib and Abdessemed 13 incorporated fuzzy-based reactive patterns on a mobile robot navigating in an indoor arena.…”