TY - JOUR
T1 - An ART-based fuzzy controller for the adaptive navigation of a quadruped robot
AU - Chen, Xuedong
AU - Watanabe, Keigo
AU - Kiguchi, Kazuo
AU - Izumi, Kiyotaka
PY - 2002/9
Y1 - 2002/9
N2 - An adaptive-resonance theory (ART)-based fuzzy controller is presented for the adaptive navigation of a quadruped robot in cluttered environments, by incorporating the capability of ART in stable category recognition into fuzzy-logic control for selecting the adequate rule base. The environment category and the navigation mechanism are first described for the quadruped robot. The ART-based fuzzy controller, including an ART-based environment recognizer, a comparer, combined rule bases, and a fuzzy inferring mechanism, is next introduced for the purpose of the adaptive navigation of the quadruped robot. Unlike classical/conventional adaptive-fuzzy controllers, the present adaptive-control scheme is implemented by the adaptive selection of fuzzy-rule base in response to changes of the robot environment, which can be categorized and recognized by the proposed environment recognizer. The results of simulation and experiment show that the adaptive-fuzzy controller is effective.
AB - An adaptive-resonance theory (ART)-based fuzzy controller is presented for the adaptive navigation of a quadruped robot in cluttered environments, by incorporating the capability of ART in stable category recognition into fuzzy-logic control for selecting the adequate rule base. The environment category and the navigation mechanism are first described for the quadruped robot. The ART-based fuzzy controller, including an ART-based environment recognizer, a comparer, combined rule bases, and a fuzzy inferring mechanism, is next introduced for the purpose of the adaptive navigation of the quadruped robot. Unlike classical/conventional adaptive-fuzzy controllers, the present adaptive-control scheme is implemented by the adaptive selection of fuzzy-rule base in response to changes of the robot environment, which can be categorized and recognized by the proposed environment recognizer. The results of simulation and experiment show that the adaptive-fuzzy controller is effective.
KW - Adaptive control
KW - Adaptive-resonance theory (ART)
KW - Fuzzy controller
KW - Navigation
KW - Obstacle avoidance
KW - Quadruped robot
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U2 - 10.1109/TMECH.2002.802722
DO - 10.1109/TMECH.2002.802722
M3 - Article
AN - SCOPUS:0036745054
SN - 1083-4435
VL - 7
SP - 318
EP - 328
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 3
ER -