In autonomous navigation of mobile robots the dynamic environment is a source of problems. Because it is not possible to model all the possible conditions, the key
point in the robot control is to design a system that is adaptable to different conditions and robust in dynamic environments.
This study presents a reactive control system for a Khepera robot with the ability to navigate in a dynamic environment for reaching goal objects. The main motivation of
this research is to design a robot control, which is robust to sensor errors and sudden changes and adaptable to different environments and conditions. Behavior based
approach is used with taking the advantage of fuzzy reasoning in design.
Experiments are made on Webots, which is a simulation environment for Khepera robot.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/109765/index.pdf |
| Date | 01 January 2004 |
| Creators | Osut, Demet |
| Contributors | Alpaslan, Ferda Nur |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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