Fuzzy Behavior-Based Control (1st Report, A Proposal of Control System Realization)

Keigo Watanabe, Kiyotaka Izumi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

A fuzzy behavior-based control system is proposed for a mobile robot by applying the concept of subsumption architecture. A simple fuzzy reasoning (e. g., simplified fuzzy reasoning) is assigned to one elemental behavior consisting of a single input-output relation, and then two consequent results from two behavioral groups are competed or cooperated. Here, it is assumed that the order of the input in a behavioral group is the same as that of the output and other behavioral groups have the same condition. For the competition or cooperation between behavioral groups or elemental behaviors, a suppression unit is constructed as a neural network by using a sgn function or saturation function. Furthermore, a Jacobian net is introduced to transform the results obtained from the competition or cooperation to the joint coordinate systems. Finally, we consider one example for a mobile robot with two independent driving wheels.

Original languageEnglish
Pages (from-to)1278-1286
Number of pages9
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume64
Issue number620
DOIs
Publication statusPublished - Jan 1 1998
Externally publishedYes

Keywords

  • Behavior-Based Control
  • Fuzzy Set Theory
  • Fuzzy-Neural Networks
  • Learning
  • Reactive Behavior
  • Robot Control
  • Subsumption Architecture

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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