Fuzzy control for behavior-based mobile robots
Resource
NAFIPS/IFIS/NASA '94. Proceedings of the First International Joint Conference of the North American Fuzzy Information Processing Society Biannual Conference. The Industrial Fuzzy Control and Intelligent Systems Conference, and the NASA Joint Technolo
Journal
NAFIPS/IFIS/NASA '94. Proceedings of the First International Joint Conference of the North American Fuzzy Information Processing Society Biannual Conference. The Industrial Fuzzy Control and Intelligent Systems Conference, and the NASA Joint Technolo
Pages
-
Date Issued
1994-12
Date
1994-12
Author(s)
Yung-Jen Hsu, J.
Lo, Der-Chiang
Hsu, Shih-Chun
DOI
N/A
Abstract
This paper presents an implemented control architecture for behavior-based mobile robots in partially known environments. In addition to coordinating primitive behaviors, the fuzzy controller is able to integrate reactive behaviors with goal-directed planning capabilities so that the robot can reach its goals more efficiently. The fuzzy controller was tested on a mobile robot equipped with sonars and infrared sensors to perform collision-free navigation toward any given goal position. The performance of the navigation system was compared with two existing algorithms, and the experimental results showed that the proposed architecture provides an efficient and flexible solution to higher level control problems.>
Type
journal article
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