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Hierarchical control for autonomous mobile robots with behavior-decision fuzzy algorithm

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4 Author(s)
Maeda, Y. ; Lab. for Int. Fuzzy Eng. Res., Yokohama, Japan ; Tanabe, M. ; Yuta, M. ; Takagi, T.

The authors propose a construction method of a behavior-decision system using fuzzy algorithms capable of expressing sequence flow which includes a mixture of both crisp and fuzzy processing. They also propose a method of tuning algorithms for giving robots the autonomous ability to judge purposes of actions like humans. In this method, an attempt is made to express ambiguous situations which a robot will encounter and behavior-decision algorithm flow by using the modified fuzzy algorithm with fuzzy branch controlled threshold, called a behavior-decision fuzzy algorithm. Results of computer simulations for a simple indoor environment and experiments using a real autonomous mobile robot are shown to prove the effectiveness of the proposed method

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992