Fuzzy behavior-based control trained by module learning to acquire the adaptive behaviors of mobile robots

Kiyotaka Izumi, Keigo Watanabe

Research output: Contribution to journalArticle

15 Citations (Scopus)

Abstract

Intelligent control techniques for robotic systems have been used with some success in a wide variety of applications. In this paper, we construct a method for the intelligent control system of a robot using the fuzzy behavior-based control, which decomposes the control system into several elemental behaviors, and each one is realized by fuzzy reasoning. In particular, a module learning method is investigated for obtaining each representative group behavior, so that the robot can, consequently, acquire more general knowledge or fuzzy reasoning, than a central learning method. The proposed method is applied for an obstacle-avoidance problem of a mobile robot; the effectiveness of the method is illustrated through some simulations.

Original languageEnglish
Pages (from-to)233-243
Number of pages11
JournalMathematics and Computers in Simulation
Volume51
Issue number3-4
Publication statusPublished - Jan 2000
Externally publishedYes

Fingerprint

Adaptive Behavior
Intelligent control
Mobile Robot
Mobile robots
Robots
Control systems
Module
Collision avoidance
Fuzzy Reasoning
Intelligent Control
Robotics
Robot
Control System
Obstacle Avoidance
Intelligent Systems
Learning
Adaptive behavior
Decompose
Learning methods
Simulation

Keywords

  • Behavior-based control
  • Fuzzy set theory
  • Genetic algorithm
  • Mobile robot
  • Module learning
  • Subsumption architecture

ASJC Scopus subject areas

  • Information Systems and Management
  • Control and Systems Engineering
  • Applied Mathematics
  • Computational Mathematics
  • Modelling and Simulation

Cite this

Fuzzy behavior-based control trained by module learning to acquire the adaptive behaviors of mobile robots. / Izumi, Kiyotaka; Watanabe, Keigo.

In: Mathematics and Computers in Simulation, Vol. 51, No. 3-4, 01.2000, p. 233-243.

Research output: Contribution to journalArticle

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