Title :
Fuzzy supervisor for behavioral control of autonomous systems
Author :
Moreno, L. ; Moraleda, E. ; Salichs, M.A. ; Pimentel, J.R. ; de la Escalera, A.
Author_Institution :
Dept. Ingeniera de Sistemas y Autom., Univ. Politecnica de Madrid, Spain
Abstract :
Presents a fuzzy implementation of a fusion supervisor of primitive behaviors in a reactive control system of an autonomous mobile robot in order to synthesize more complex robot behaviors. The authors also present a fuzzy controller of a path following primitive behavior. Both supervisor and controller are part of an architecture for the execution of mobile robot tasks composed of several primitive behaviors in a simultaneous or concurrent fashion. The implementation has been tested within OPMOR, a simulation environment for mobile robots
Keywords :
digital simulation; fuzzy control; mobile robots; path planning; OPMOR; UPM Robuter; autonomous systems; behavioral control; complex robot behaviors; concurrent; fusion supervisor; fuzzy supervisor; mobile robot; path following primitive behavior; primitive behaviors; reactive control system; simulation environment; simultaneous; Control system synthesis; Control systems; Control theory; Fuses; Fuzzy control; Fuzzy logic; Fuzzy systems; Heuristic algorithms; Mobile robots; Testing;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-0891-3
DOI :
10.1109/IECON.1993.339071
