A Rough-Fuzzy Controller for Autonomous Mobile Robot Navigation

Author

Lee, Chang Su ; Bräunl, Thomas ; Zaknich, Anthony

Author_Institution

Sch. of Electr., Electron. & Comput. Eng., Western Australia Univ., Perth, WA

fYear

2006

fDate

Sept. 2006

Firstpage

679

Lastpage

682

Abstract

This paper presents a new development of a rough-fuzzy controller for an autonomous mobile robot based on rough set and fuzzy set theory. It has been tested in different environments with the Saphira simulation software. The proposed approach provides an improvement in uncertainty reasoning by using a rough-fuzzy controller, resulting in better wall-following behavior performance as compared against other controllers. The rough-fuzziness of the input data leads to the enhanced uncertainty reasoning process by calculating the roughly approximated fuzzified value of the input, which makes the system more robust and reliable

Keywords

fuzzy control; inference mechanisms; mobile robots; navigation; rough set theory; uncertainty handling; Saphira simulation software; autonomous mobile robot navigation; fuzzy set theory; rough set theory; rough-fuzzy controller; rough-fuzzy membership functions; uncertainty reasoning; Australia; Control systems; Fuzzy logic; Fuzzy set theory; Fuzzy sets; Fuzzy systems; Mobile robots; Navigation; Robot sensing systems; Uncertainty; fuzzy set theory; rough set theory; rough-fuzzy controller; rough-fuzzy membership functions;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems, 2006 3rd International IEEE Conference on

Conference_Location

London

Print_ISBN

1-4244-01996-8

Electronic_ISBN

1-4244-01996-8

Type

conf

DOI

10.1109/IS.2006.348501

Filename

4155508