Fuzzy navigation for robotic manipulators

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

Mathematical morphology and binary geodesy for robot navigation planning

A new method for obtaining the optimal path to robot navigation in 2-D environments is presented in this paper. To obtain the optimal path we use mathematical morphology in binary worlds and the geodesic distance. The navigation algorithm is based on the search for a path of minimum cost by using the wave-front of the geodesic distance of the mathematical morphology. The optimal path will be the one that minimize the direction changes of the robot. The algorithm of optimal path will be applied in several and complex 2-D environments