Title :
Fuzzy behavior modulation with threshold activation for autonomous vehicle navigation
Author_Institution :
Robotic Vehicles Group, California Inst. of Technol., Pasadena, CA, USA
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;
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
DOI :
10.1109/NAFIPS.1999.781799
