Title :
Adaptive fuzzy-behavior hierarchy for autonomous navigation
Author :
Tunstel, Edward ; Danny, Harrison ; Lippincott, Tanya ; Jamshidi, Mo
Author_Institution :
Dept. of Electr. & Comput. Eng., New Mexico Univ., Albuquerque, NM, USA
Abstract :
Adaptive behavioral capabilities are necessary for robust navigation in non-engineered environments. A control approach to adaptive behavior is described which exploits the approximate reasoning facility of fuzzy logic. In particular, a behavior-based architecture for hierarchical fuzzy control of mobile robots is presented. Its structure is described as well as mechanisms of control decision-making which give rise to adaptive behavior. Control decisions result from a consensus of recommendations offered only by behaviors that are applicable to current situations. Indoor navigation examples demonstrate the practicality of the approach and reveals characteristics of multiple behavior interaction
Keywords :
fuzzy control; fuzzy logic; inference mechanisms; intelligent control; mobile robots; path planning; robust control; uncertainty handling; adaptive behavioral capabilities; adaptive fuzzy-behavior hierarchy; approximate reasoning; autonomous navigation; behavior-based architecture; consensus; control approach; control decision-making; fuzzy logic; hierarchical fuzzy control; indoor navigation; multiple behavior interaction; nonengineered environments; robust navigation; Adaptive control; Decision making; Fuzzy control; Fuzzy logic; Fuzzy sets; Intelligent robots; Mobile robots; NASA; Navigation; Programmable control;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620137
