Title :
An autonomous mobile robot control method based on hierarchical fuzzy behaviors
Author :
Li, Shou-Tao ; Li, Yuan-Chun
Author_Institution :
Dept. of Control Sci. & Eng., Jilin Univ., Changchun, China
Abstract :
The paper proposes a new hierarchical fuzzy behavior-based control architecture of an autonomous mobile robot using the information extracted from its sensors in unknown environments, and focuses on the coordination and fusion of the elementary behaviors, which are achieved by means of fuzzy reasoning scheme. The core theoretical foundations of designing of the compound Zeno behavior in hierarchical hybrid behaviors are presented and supported by different simulation experiments.
Keywords :
fuzzy control; fuzzy reasoning; mobile robots; neurocontrollers; sensor fusion; compound Zeno behavior; fuzzy reasoning; hierarchical fuzzy behavior; mobile robot control; neural network; robot navigation; sensor fusion; Automata; Data mining; Fusion power generation; Fuzzy control; Fuzzy reasoning; Mobile robots; Navigation; Robot control; Robot kinematics; Sensor fusion; Mobile robot; behavior-based; fuzzy reasoning; navigation; neural networks;
Conference_Titel :
Machine Learning and Cybernetics, 2005. Proceedings of 2005 International Conference on
Conference_Location :
Guangzhou, China
Print_ISBN :
0-7803-9091-1
DOI :
10.1109/ICMLC.2005.1527149
