A fuzzy logic based extension to Payton and Rosenblatt´s command fusion method for mobile robot navigation

Author

Yen, J.

Author_Institution

Dept. of Comput. Sci., Texas A&M Univ., College Station, TX

Volume

25

Issue

6

fYear

1995

fDate

6/1/1995 12:00:00 AM

Firstpage

971

Lastpage

978

Abstract

Payton and Rosenblatt (1990) have proposed a command fusion method for combining outputs of multiple behaviors in a mobile robot navigation system such that information loss due to command fusion can be reduced. Using linguistic fuzzy rules to explicitly capture heuristics implicit in the Payton-Rosenblatt approach, we have extended their approach to a fuzzy logic architecture for mobile robot navigation in dynamic environments, which is simpler and easier to understand and modify. We have also developed and empirically tested a new defuzzification technique for alleviating difficulties in applying existing defuzzification methods to mobile robot navigation control

Keywords

computerised navigation; fuzzy control; heuristic programming; mobile robots; navigation; path planning; command fusion method; fuzzy logic architecture; heuristics; information loss reduction; linguistic fuzzy rules; mobile robot navigation; Collision avoidance; Fuzzy logic; Intelligent control; Intelligent robots; Mobile robots; Navigation; Roads; Robot control; Testing; Uncertainty;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9472

Type

jour

DOI

10.1109/21.384260

Filename

384260