Fuzzy supervisor for behavioral control of autonomous systems

Author

Moreno, L. ; Moraleda, E. ; Salichs, M.A. ; Pimentel, J.R. ; de la Escalera, A.

Author_Institution

Dept. Ingeniera de Sistemas y Autom., Univ. Politecnica de Madrid, Spain

fYear

1993

fDate

15-19 Nov 1993

Firstpage

258

Abstract

Presents a fuzzy implementation of a fusion supervisor of primitive behaviors in a reactive control system of an autonomous mobile robot in order to synthesize more complex robot behaviors. The authors also present a fuzzy controller of a path following primitive behavior. Both supervisor and controller are part of an architecture for the execution of mobile robot tasks composed of several primitive behaviors in a simultaneous or concurrent fashion. The implementation has been tested within OPMOR, a simulation environment for mobile robots

Keywords

digital simulation; fuzzy control; mobile robots; path planning; OPMOR; UPM Robuter; autonomous systems; behavioral control; complex robot behaviors; concurrent; fusion supervisor; fuzzy supervisor; mobile robot; path following primitive behavior; primitive behaviors; reactive control system; simulation environment; simultaneous; Control system synthesis; Control systems; Control theory; Fuses; Fuzzy control; Fuzzy logic; Fuzzy systems; Heuristic algorithms; Mobile robots; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-0891-3

Type

conf

DOI

10.1109/IECON.1993.339071

Filename

339071