A Behavior Based Fuzzy Control Architecture for Path Tracking and Obstacle Avoidance
نویسندگان
چکیده
This paper presents an improvement to the Reactive Shared-Control System (Pires and Nunes, 2002) in development at the ISR (Institute of Systems and Robotics). A path tracking behaviour is being added in the control architecture in order to increase the navigation autonomy of a powered wheelchair (RobChair). The paper focuses on the implementation of the path-tracking by means of fuzzy logic and presents a solution to combine this behaviour with an obstacle avoidance behaviour in order to achieve a coherent response. Simulation results are presented to show the effectiveness of the controller. Copyright c ©Controlo 2002
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تاریخ انتشار 2002