Title :
A Rough-Fuzzy Controller for Autonomous Mobile Robot Navigation
Author :
Lee, Chang Su ; Bräunl, Thomas ; Zaknich, Anthony
Author_Institution :
Sch. of Electr., Electron. & Comput. Eng., Western Australia Univ., Perth, WA
Abstract :
This paper presents a new development of a rough-fuzzy controller for an autonomous mobile robot based on rough set and fuzzy set theory. It has been tested in different environments with the Saphira simulation software. The proposed approach provides an improvement in uncertainty reasoning by using a rough-fuzzy controller, resulting in better wall-following behavior performance as compared against other controllers. The rough-fuzziness of the input data leads to the enhanced uncertainty reasoning process by calculating the roughly approximated fuzzified value of the input, which makes the system more robust and reliable
Keywords :
fuzzy control; inference mechanisms; mobile robots; navigation; rough set theory; uncertainty handling; Saphira simulation software; autonomous mobile robot navigation; fuzzy set theory; rough set theory; rough-fuzzy controller; rough-fuzzy membership functions; uncertainty reasoning; Australia; Control systems; Fuzzy logic; Fuzzy set theory; Fuzzy sets; Fuzzy systems; Mobile robots; Navigation; Robot sensing systems; Uncertainty; fuzzy set theory; rough set theory; rough-fuzzy controller; rough-fuzzy membership functions;
Conference_Titel :
Intelligent Systems, 2006 3rd International IEEE Conference on
Conference_Location :
London
Print_ISBN :
1-4244-01996-8
Electronic_ISBN :
1-4244-01996-8
DOI :
10.1109/IS.2006.348501
