Adaptive fuzzy-behavior hierarchy for autonomous navigation

Author

Tunstel, Edward ; Danny, Harrison ; Lippincott, Tanya ; Jamshidi, Mo

Author_Institution

Dept. of Electr. & Comput. Eng., New Mexico Univ., Albuquerque, NM, USA

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

829

Abstract

Adaptive behavioral capabilities are necessary for robust navigation in non-engineered environments. A control approach to adaptive behavior is described which exploits the approximate reasoning facility of fuzzy logic. In particular, a behavior-based architecture for hierarchical fuzzy control of mobile robots is presented. Its structure is described as well as mechanisms of control decision-making which give rise to adaptive behavior. Control decisions result from a consensus of recommendations offered only by behaviors that are applicable to current situations. Indoor navigation examples demonstrate the practicality of the approach and reveals characteristics of multiple behavior interaction

Keywords

fuzzy control; fuzzy logic; inference mechanisms; intelligent control; mobile robots; path planning; robust control; uncertainty handling; adaptive behavioral capabilities; adaptive fuzzy-behavior hierarchy; approximate reasoning; autonomous navigation; behavior-based architecture; consensus; control approach; control decision-making; fuzzy logic; hierarchical fuzzy control; indoor navigation; multiple behavior interaction; nonengineered environments; robust navigation; Adaptive control; Decision making; Fuzzy control; Fuzzy logic; Fuzzy sets; Intelligent robots; Mobile robots; NASA; Navigation; Programmable control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620137

Filename

620137