Hierarchical control for autonomous mobile robots with behavior-decision fuzzy algorithm

2 January 2003

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

p. 117-122 vol.1
https://doi.org/10.1109/robot.1992.220325

Abstract

The authors propose a construction method of a behavior-decision system using fuzzy algorithms capable of expressing sequence flow which includes a mixture of both crisp and fuzzy processing. They also propose a method of tuning algorithms for giving robots the autonomous ability to judge purposes of actions like humans. In this method, an attempt is made to express ambiguous situations which a robot will encounter and behavior-decision algorithm flow by using the modified fuzzy algorithm with fuzzy branch controlled threshold, called a behavior-decision fuzzy algorithm. Results of computer simulations for a simple indoor environment and experiments using a real autonomous mobile robot are shown to prove the effectiveness of the proposed method.<>

Keywords

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