Title :
Fuzzy logic based behaviors blending for intelligent reactive navigation of walking robot
Author :
Al-Jumaily, Adel Ali S ; Amin, Shamsudin H M
Author_Institution :
Fac. of Electr. Eng., Univ. Teknologi Malaysia, Johor, Malaysia
Abstract :
The reaction of an autonomous mobile robot to dynamic, uncertain, and changeable environments is one of most difficult issues in control of intelligent autonomous robot movement. Fuzzy control appears as a very useful tool for handling intelligent reactive navigation. The present work deals with building of fuzzy behavior based reactive navigation for obstacle avoidance, and proposes a method to blend and coordinate multi-behaviors at the same time. This method using a fuzzy technique and fixed priority value to reflect the importance of the behavior. We have built our simulation and animation programs that can reflect online the robot movement using a graphical user interface
Keywords :
collision avoidance; computer animation; fuzzy control; fuzzy logic; graphical user interfaces; intelligent control; legged locomotion; autonomous mobile robot; fixed priority value; fuzzy logic based behaviors blending; fuzzy technique; intelligent reactive navigation; obstacle avoidance; walking robot; Artificial intelligence; Fuzzy control; Fuzzy logic; Graphical user interfaces; Intelligent robots; Legged locomotion; Mobile robots; Navigation; Robot kinematics; Robot sensing systems;
Conference_Titel :
Signal Processing and Its Applications, 1999. ISSPA '99. Proceedings of the Fifth International Symposium on
Conference_Location :
Brisbane, Qld.
Print_ISBN :
1-86435-451-8
DOI :
10.1109/ISSPA.1999.818136
