Fuzzy logic based behaviors blending for intelligent reactive navigation of walking robot

Author

Al-Jumaily, Adel Ali S ; Amin, Shamsudin H M

Author_Institution

Fac. of Electr. Eng., Univ. Teknologi Malaysia, Johor, Malaysia

Volume

1

fYear

1999

fDate

1999

Firstpage

155

Abstract

The reaction of an autonomous mobile robot to dynamic, uncertain, and changeable environments is one of most difficult issues in control of intelligent autonomous robot movement. Fuzzy control appears as a very useful tool for handling intelligent reactive navigation. The present work deals with building of fuzzy behavior based reactive navigation for obstacle avoidance, and proposes a method to blend and coordinate multi-behaviors at the same time. This method using a fuzzy technique and fixed priority value to reflect the importance of the behavior. We have built our simulation and animation programs that can reflect online the robot movement using a graphical user interface

Keywords

collision avoidance; computer animation; fuzzy control; fuzzy logic; graphical user interfaces; intelligent control; legged locomotion; autonomous mobile robot; fixed priority value; fuzzy logic based behaviors blending; fuzzy technique; intelligent reactive navigation; obstacle avoidance; walking robot; Artificial intelligence; Fuzzy control; Fuzzy logic; Graphical user interfaces; Intelligent robots; Legged locomotion; Mobile robots; Navigation; Robot kinematics; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing and Its Applications, 1999. ISSPA '99. Proceedings of the Fifth International Symposium on

Conference_Location

Brisbane, Qld.

Print_ISBN

1-86435-451-8

Type

conf

DOI

10.1109/ISSPA.1999.818136

Filename

818136