Fuzzy behavior-based control (3rd report, module learning and behavioral coordination by an adaptive fusion unit with external sensor information)

Keigo Watanabe, Kiyotaka Izumi, Junnosuke Maki, Kazuo Kiguchi

Research output: Contribution to journalArticle

Abstract

In order to obtain more effective coordinated behaviors against changes in environments or unlearned environments, we here propose a new fusion unit using external sensor information for a fuzzy behavior-based control system trained in the framework of module learning. The present fusion unit falls into a class of adaptive priority-based architecture in which the fusion between behavioral elements is carried out by a cooperative or competition strategy, depending on whether an objective point or obstacle can be detected or not. Some experimental results of a miniature mobile robot Khepera show that the proposed method is superior to the conventional method that applies a fusion unit based on a fixed priority-based architecture.

Original languageEnglish
Pages (from-to)76-83
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume69
Issue number1
DOIs
Publication statusPublished - Jan 2003
Externally publishedYes

Keywords

  • Adaptive fusion unit
  • Behavioral coordination
  • Fuzzy behavior-based control
  • Mobile robots
  • Module learning

ASJC Scopus subject areas

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

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