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A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation

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1 Author(s)
Yen, J. ; Dept. of Comput. Sci., Texas A&M Univ., College Station, TX

Payton and Rosenblatt (1990) have proposed a command fusion method for combining outputs of multiple behaviors in a mobile robot navigation system such that information loss due to command fusion can be reduced. Using linguistic fuzzy rules to explicitly capture heuristics implicit in the Payton-Rosenblatt approach, we have extended their approach to a fuzzy logic architecture for mobile robot navigation in dynamic environments, which is simpler and easier to understand and modify. We have also developed and empirically tested a new defuzzification technique for alleviating difficulties in applying existing defuzzification methods to mobile robot navigation control

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:25 ,  Issue: 6 )