Fuzzy Logic Rules for Mapping Sensor Data to Robot Control
نویسندگان
چکیده
We use fuzzy logic rules to directly map sensor data to robot control outputs by classifying a set of typi cal subtasks such as path tracking local collision avoidance contour tracking situation evaluation etc With the help of existing heuristics the decision making process for each subtask can be modelled and represented with IF THEN rules The underlying concepts of mapping with fuzzy logic rules are brie y explained by considering the proximity sensors the con trol of speed and steering angle of a mobile robot The development of these fuzzy rules is explained typical rules for dealing with various motion situations are listed The modularly developed fuzzy rule bases can be integrated to realise task level programming and the exploration task Experiments with the mobile robot validate this concept
منابع مشابه
Sensors Fusion Technique for Mobile Robot Navigation using Fuzzy Logic Control System
The mobile robot navigation with complex environment needs more input space to match the environmental data into robot outputs in order to perform a realistic task. At the same time, the number of rules at the rule base needs to be optimized to reduce the computing time and to provide the possibilities for real time operation. In this paper, the optimization of fuzzy rules using a Modified Fuzz...
متن کاملRule BaseInference ?
This paper proposes a method for the design of a dynamic path planner which utilizes fuzzy logic for navigation of mobile robots in uncertain environments. The method consists in identifying a dynamical system, with a fuzzy logic controller structure, from the examples generated by an \expert". The generator of examples will be a search algorithm on a known map of the working environment, that ...
متن کاملDesigning an adaptive fuzzy control for robot manipulators using PSO
This paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (PSO) algorithm. PSO algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ISE) as a performance criteria. In this paper, an improved PSO using logic is proposed to increase the convergenc...
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 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