Title :
Adapting to environmental variations in a rule-based mobile robot controller
Author :
Fei, J. ; Isik, C.
Author_Institution :
Dept. of Electr. & Comput. Eng., Syracuse Univ., NY, USA
Abstract :
A method of adapting an entire rule-base to new environmental conditions is introduced. The method, based on curve fitting, is explained using the example of a rule-based mobile robot control. Specifically, it is shown that it is possible to transform a so-called generic rule-base, for operation on a firm surface with an acceleration of 6 ft/sec2, to a working rule-base, for operation on a less firm surface with a lower allowable acceleration, using a family of fuzzy mappings
Keywords :
curve fitting; fuzzy set theory; knowledge based systems; mobile robots; curve fitting; environmental variations; fuzzy mappings; generic rule-base; rule-based mobile robot controller; working rule-base; Acceleration; Control system analysis; Control systems; Curve fitting; Mobile robots; Motion control; Motion planning; Navigation; Robot control; Velocity control;
Conference_Titel :
Systems, Man and Cybernetics, 1989. Conference Proceedings., IEEE International Conference on
Conference_Location :
Cambridge, MA
DOI :
10.1109/ICSMC.1989.71311
