Fuzzy behavior-based control for the obstacle avoidance of multi-link manipulators

Palitha Dassanayake, Keigo Watanabe, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

The behavior based approach has been actively used in many applications of intelligent robots due to the advantages of dividing the control system according to the task achieving behaviors over the conventional method in which the division is based on functions. One important application that had been done is for a mobile robot to reach a target while avoiding obstacles. The objective of this paper is for a multi-link manipulator to reach a target while avoiding obstacles by using a fuzzy behavior-based control approach. The control system that had been applied to the mobile robot in the previous work, is modified to suit to the manipulator. Fuzzy behavior elements are trained by a genetic algorithm. An additional component is also introduced in order to overcome the gravitational effect. Simulation results show that the manipulator reaches the target with an acceptable solution.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Pages257-266
Number of pages10
Volume1711
ISBN (Print)3540666451, 9783540666455
DOIs
Publication statusPublished - 1999
Externally publishedYes
Event7th International Workshop on Rough Sets, Fuzzy Sets, Data Mining, and Granular-Soft Computing, RSFDGrC 1999 - Yamaguchi, Japan
Duration: Nov 9 1999Nov 11 1999

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1711
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other7th International Workshop on Rough Sets, Fuzzy Sets, Data Mining, and Granular-Soft Computing, RSFDGrC 1999
CountryJapan
CityYamaguchi
Period11/9/9911/11/99

Keywords

  • Behavior-based control system
  • Fuzzy control
  • Genetic algorithms
  • Manipulator
  • Obstacle avoidance

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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    Dassanayake, P., Watanabe, K., & Izumi, K. (1999). Fuzzy behavior-based control for the obstacle avoidance of multi-link manipulators. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 1711, pp. 257-266). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1711). Springer Verlag. https://doi.org/10.1007/978-3-540-48061-7_31