Title :
Fuzzy logic in autonomous robotics: behavior coordination
Author_Institution :
IRIDIA, Univ. Libre de Bruxelles
Abstract :
Most current architectures for autonomous robots are based on a decomposition of the control problem into small units of control, or behaviors. While this decomposition has a number of advantages, it brings about the problem of having to coordinate the execution of different units in order to obtain a globally coherent behavior. In this paper, we discuss how fuzzy logic can be used, and has been used, to address this problem
Keywords :
fuzzy control; fuzzy logic; intelligent control; mobile robots; path planning; autonomous robotics; behavior arbitration; behavior coordination; command fusion; context dependent blending; fuzzy control; fuzzy logic; path planning; reactive navigation; Decision making; Event detection; Fuzzy logic; Humans; Robot kinematics; Robot sensing systems; Uncertainty; Working environment noise;
Conference_Titel :
Fuzzy Systems, 1997., Proceedings of the Sixth IEEE International Conference on
Conference_Location :
Barcelona
Print_ISBN :
0-7803-3796-4
DOI :
10.1109/FUZZY.1997.616430
