Fuzzy controller based subsumption behavior architecture for autonomous robotic wheelchair
Journal
2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings
Pages
158-163
Date Issued
2013
Author(s)
Abstract
This paper presents the design and implementation of fuzzy controller based subsumption behavior architecture for controlling an autonomous robotic wheelchair. Behaviors of autonomous robotic wheelchair generally developed with one or more basic behaviors such as goal seeking, wall following, obstacle avoidance and finding target based on different environmental conditions. Therefore, to maximize the navigation performance, fuzzy controller based subsumption behavior architecture is proposed as a sensor fusion algorithm and to find most suitable robotic wheelchair behavior according to environment condition. The arbitrate competition is used to decide which behavior controller has a higher priority, then robotic wheelchair can be controlled by the highest priority behavior during the robotic wheelchair movement towards the goal or target. In order to verify our approach, a robotic wheelchair is controlled with a microcontroller for motion control and sensors information acquisition, personal computer connects to a web-camera for visual localization. The experiment of simulation and test results were presented to show the validity of the proposed method. ? 2013 IEEE.
Subjects
Design and implementations
Environment conditions
Environmental conditions
Fuzzy logic controllers
Information acquisitions
Navigation performance
Robotic wheelchairs
Sensor fusion algorithms
Fuzzy logic
Intelligent systems
Navigation
Personal computers
Robots
Sensors
Wheelchairs
Robotics
Type
conference paper