Fuzzy behavior modulation with threshold activation for autonomous vehicle navigation

Author

Tunstel, Edward

Author_Institution

Robotic Vehicles Group, California Inst. of Technol., Pasadena, CA, USA

fYear

1999

fDate

36342

Firstpage

776

Lastpage

780

Abstract

The paper describes fuzzy logic techniques used in a hierarchical behavior-based architecture for robot navigation. An architectural feature for threshold activation of fuzzy behaviors is emphasized, which is potentially useful for tuning navigation performance in real world applications. The target application is autonomous local navigation of a small planetary rover. Threshold activation of low-level navigation behaviors is the primary focus. A preliminary assessment of its impact on local navigation performance is provided based on computer simulations

Keywords

computerised navigation; fuzzy logic; intelligent control; mobile robots; planetary rovers; architectural feature; autonomous local navigation; autonomous vehicle navigation; computer simulations; fuzzy behavior modulation; fuzzy logic techniques; hierarchical behavior-based architecture; local navigation performance; low-level navigation behaviors; navigation performance; real world applications; robot navigation; small planetary rover; threshold activation; Aircraft navigation; Application software; Fuzzy control; Fuzzy logic; Laboratories; Mobile robots; Motion control; Propulsion; Remotely operated vehicles; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Information Processing Society, 1999. NAFIPS. 18th International Conference of the North American

Conference_Location

New York, NY

Print_ISBN

0-7803-5211-4

Type

conf

DOI

10.1109/NAFIPS.1999.781799

Filename

781799