A fuzzy safe follow wall behavior fusing simpler fuzzy behaviors
نویسنده
چکیده
Robots behaviors can be implemented as a fuzzy rules set that mimic expert knowledge in speciic tasks, but complex behavior generation need huge implementation eeorts. This can be overcome by decomposing tasks in simpler behaviors that are easier to design and tune independently. Present work shows a complex navigational behavior to follow wall avoiding obstacles, obtained combining several simpler behaviors. Two combination methods have been tested, that use fuzzy metarules to fuse the actions derived from each one of the simpler behaviors both in simulated and in real environments. Some results are presented to show the particular characteristics of each combination method.
منابع مشابه
Fuzzy behaviors for mobile robot navigation: design, coordination and fusion
The implementation of complex behavior generation for arti®cial systems can be overcome by decomposing the global tasks into simpler, well-speci®ed behaviors which are easier to design and can be tuned independently of each other. Robot behavior can be implemented as a set of fuzzy rules which mimic expert knowledge in speci®c tasks in order to model expert knowledge. These behaviors are includ...
متن کاملSonar behavior-based fuzzy control for a mobile robot
This paper describes how fuzzy control can be applied to a sonar-based mobile robot. Behavior-based fuzzy control for HelpMate behaviors was designed using sonar sensors. The fuzzy controller provides a mechanism for combining sensor data from all sonar sensors which present di®erent information. The behavior-based approach is implemented as an individual high priority behavior. The highest lev...
متن کاملMobile robot wall-following control using a behavior-based fuzzy controller in unknown environments
This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...
متن کاملEvolutionary Learning of Mobile Robot Behaviors
This paper describes a messy genetic algorithm for the automatic design of fuzzy logic controllers. The method is applied to adapt a wall following behavior behavior of a mobile robot.
متن کاملFuzzy Logic-Based 'Perception-Action' Behavior Control of a Mobile Robot in Uncertain Environments
This paper presents a method for fuzzy logic-based 'perception-action' behavior control of a mobile robot in uncertain environments. A key problem in 'perception-action' behavior control is to coordinate and integrate more reactive behaviors when the mobile robot executes tasks in complex environments. The main idea of the paper is to formulate 'perception-action' behaviors and to coordinate th...
متن کامل