Modified fuzzy behavior coordination for autonomous mobile robot navigation system

Author

Wicaksono, Handy ; Prihastono ; Anam, Khairul ; Effendi, Rusdhianto ; Adji, S. Indra ; Kuswadi, Son ; Jazidie, Achmad ; Sampei, Mitsuji

Author_Institution

Dept. of Electr. Eng., Inst. Teknol. Sepuluh Nopember, Surabaya, Indonesia

fYear

2009

fDate

18-21 Aug. 2009

Firstpage

2944

Lastpage

2948

Abstract

In behavior based robotics, development of behavior coordination method is very important. Fuzzy behavior coordination (FBC) can be used here, but it still have weaknesses, because it can result in slow robot movement, too long time to reach the target and fail to avoid trap. In this paper, modification of FBC, by combining it with subsumption architecture, is proposed to overcome those weaknesses. The simulation result shows that MFBC give the faster robot movement and decrease the amount of time to reach the target.

Keywords

fuzzy control; mobile robots; motion control; path planning; autonomous mobile robot; behavior based robotics; fuzzy behavior coordination; fuzzy logic; robot movement; robot navigation; subsumption architecture; Fuzzy control; Fuzzy logic; Fuzzy systems; Informatics; Mechatronics; Mobile robots; Navigation; Process control; Robot kinematics; Robot sensing systems; behavior coordination; behavior-based robotics; fuzzy logic;

fLanguage

English

Publisher

ieee

Conference_Titel

ICCAS-SICE, 2009

Conference_Location

Fukuoka

Print_ISBN

978-4-907764-34-0

Electronic_ISBN

978-4-907764-33-3

Type

conf

Filename

5332981