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Obstacle avoidance of mobile robot using fuzzy behaviour-based control with module learning

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3 Author(s)
Izumi, K. ; Dept. of Mech. Eng., Saga Univ., Japan ; Watanabe, K. ; Sang-Ho Jin

Intelligent control is being widely studied in the field of robotics. A construction method of an intelligent control system is the fuzzy behavior-based control which decomposes a task into each elemental behavior like a subsumption architecture, and each elemental behavior is realized by fuzzy reasoning. In the paper, a module learning method is proposed for such a system, because the robot will be able to get more general knowledge or fuzzy reasoning than a central learning method. In particular, the module learning method is applied to an obstacle avoidance problem of a mobile robot. The effectiveness of the present method is illustrated through some simulations

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Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:1 )

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