Fuzzy temporal rules for mobile robot guidance in dynamic environments
نویسندگان
چکیده
This paper describes a fuzzy control system for the avoidance of moving objects by a robot. The objects move with no type of restriction, varying their velocity and making turns. Due to the complex nature of this movement, it is necessary to realize temporal reasoning with the aim of estimating the trend of the moving object. A new paradigm of fuzzy temporal reasoning, which we call fuzzy temporal rules (FTRs), is used for this control task. The control system has over 117 rules, which reflects the complexity of the problem to be tackled. The controller has been subjected to an exhaustive validation process and examples are shown of the results obtained.
منابع مشابه
Mobile 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 کاملA Q-learning Based Continuous Tuning of Fuzzy Wall Tracking
A simple easy to implement algorithm is proposed to address wall tracking task of an autonomous robot. The robot should navigate in unknown environments, find the nearest wall, and track it solely based on locally sensed data. The proposed method benefits from coupling fuzzy logic and Q-learning to meet requirements of autonomous navigations. Fuzzy if-then rules provide a reliable decision maki...
متن کاملA Novel Method for Path Planning of Mobile Robots via Fuzzy Logic and ant Colony Algorithem in Complex Daynamic Environments
Researches on mobile robot path planning with meta-heuristic methods to improve classical approaches have grown dramatically in the recent 35 years. Because routing is one of the NP-hard problems, an ant colony algorithm that is a metaheuristic method has had no table success in this area. In this paper, a new approach for solving mobile robot navigation in dynamic environments, based on the he...
متن کاملDynamic Obstacle Avoidance by Distributed Algorithm based on Reinforcement Learning (RESEARCH NOTE)
In this paper we focus on the application of reinforcement learning to obstacle avoidance in dynamic Environments in wireless sensor networks. A distributed algorithm based on reinforcement learning is developed for sensor networks to guide mobile robot through the dynamic obstacles. The sensor network models the danger of the area under coverage as obstacles, and has the property of adoption o...
متن کاملNavigation of a Mobile Robot Using Virtual Potential Field and Artificial Neural Network
Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- IEEE Trans. Systems, Man, and Cybernetics, Part C
دوره 31 شماره
صفحات -
تاریخ انتشار 2001