Abstract
A fuzzy behavior-based control system is proposed for a mobile robot by applying the concept of subsumption architecture. A simple fuzzy reasoning (e. g., simplified fuzzy reasoning) is assigned to one elemental behavior consisting of a single input-output relation, and then two consequent results from two behavioral groups are competed or cooperated. Here, it is assumed that the order of the input in a behavioral group is the same as that of the output and other behavioral groups have the same condition. For the competition or cooperation between behavioral groups or elemental behaviors, a suppression unit is constructed as a neural network by using a sgn function or saturation function. Furthermore, a Jacobian net is introduced to transform the results obtained from the competition or cooperation to the joint coordinate systems. Finally, we consider one example for a mobile robot with two independent driving wheels.
| Original language | English |
|---|---|
| Pages (from-to) | 1278-1286 |
| Number of pages | 9 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 64 |
| Issue number | 620 |
| DOIs | |
| Publication status | Published - 1998 |
| Externally published | Yes |
Keywords
- Behavior-Based Control
- Fuzzy Set Theory
- Fuzzy-Neural Networks
- Learning
- Reactive Behavior
- Robot Control
- Subsumption Architecture
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering