Fuzzy behavior-based control for a miniature mobile robot

Author

Izumi, K. ; Watanabe, K. ; Miyazaki, T.

Author_Institution

Fac. of Sci. & Eng., Saga Univ., Japan

Volume

3

fYear

1998

fDate

21-23 Apr 1998

Firstpage

483

Abstract

We have already developed a fuzzy behavior-based control system that combines the concept of subsumption architecture and fuzzy reasoning technique. When applying it to a mobile robot, the robot needs to have precise information such as distance and azimuth. We discuss how to construct the fuzzy behavior-based control system for a miniature mobile robot in the case when the robot can not often receive any information from sensors. In addition, we apply a virus evolutionary genetic algorithm with species to generating the fuzzy rule. The effectiveness of the proposed method is shown by simulations

Keywords

control system synthesis; fuzzy control; fuzzy logic; fuzzy set theory; genetic algorithms; inference mechanisms; mobile robots; fuzzy behavior-based control; fuzzy reasoning technique; fuzzy rule; miniature mobile robot; subsumption architecture; virus evolutionary genetic algorithm; Control systems; Fuzzy control; Fuzzy reasoning; Fuzzy systems; Genetic algorithms; Intelligent robots; Intelligent sensors; Mobile robots; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Knowledge-Based Intelligent Electronic Systems, 1998. Proceedings KES '98. 1998 Second International Conference on

Conference_Location

Adelaide, SA

Print_ISBN

0-7803-4316-6

Type

conf

DOI

10.1109/KES.1998.726012

Filename

726012