Title :
Fuzzy temporal rules for mobile robot guidance in dynamic environments
Author :
Mucientes, Manuel ; Iglesias, Ruben ; Regueiro, C.V. ; Bugarin, A. ; Carinena, P. ; Barro, Senen
Author_Institution :
Dept. of Electron. & Comput. Sci., Santiago de Compostela Univ.
fDate :
8/1/2001 12:00:00 AM
Abstract :
The paper describes a fuzzy control system for the avoidance of moving objects by a robot. The objects move with no type of restriction, varying their velocity and making turns. Due to the complex nature of this movement, it is necessary to realize temporal reasoning with the aim of estimating the trend of the moving object. A new paradigm of fuzzy temporal reasoning, which we call fuzzy temporal rules (FTRs), is used for this control task. The control system has over 117 rules, which reflects the complexity of the problem to be tackled. The controller has been subjected to an exhaustive validation process and examples are shown of the results obtained
Keywords :
collision avoidance; fuzzy control; mobile robots; temporal reasoning; FTRs; dynamic environments; exhaustive validation process; fuzzy control system; fuzzy temporal reasoning; fuzzy temporal rules; mobile robot guidance; moving object avoidance; moving obstacle avoidance; temporal reasoning; Computer science; Control systems; Fuzzy control; Fuzzy logic; Fuzzy reasoning; Mobile robots; Navigation; Predictive models; Robot sensing systems; Uncertainty;
Journal_Title :
Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on
DOI :
10.1109/5326.971667
