TY - GEN
T1 - Behavior modulation of autonomous mobile robotics using fuzzy control method
AU - Tian, Daji
AU - Wang, Shaoping
AU - El Kamel, Abdelkader
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/20
Y1 - 2014/10/20
N2 - In recent years, intelligent control is playing a more and more important role when dealing with Autonomous Mobile Robot (known as AMR), in unstructured, unknown or partly unknown, and dynamic environments. In dividing the overall task into subtasks, the intelligent controller allows reducing the robot's task complexity. But the fusion of different behaviors with different objectives may cause contradiction in the procedure and alter the stability of system. Therefore the issue of behavior coordination mechanisms is crucial in order to realize the non-collision safety-ensured movement. A method based on Fuzzy Discrete Event System is proposed in this paper. A new approach with four basic behaviors: route following, target going, obstacle avoiding and deadlock disarming, for mobile robot navigation are discussed. Player/Stage simulation results show that the proposed approach is effective in navigating mobile robots in dynamic unknown circumstances.
AB - In recent years, intelligent control is playing a more and more important role when dealing with Autonomous Mobile Robot (known as AMR), in unstructured, unknown or partly unknown, and dynamic environments. In dividing the overall task into subtasks, the intelligent controller allows reducing the robot's task complexity. But the fusion of different behaviors with different objectives may cause contradiction in the procedure and alter the stability of system. Therefore the issue of behavior coordination mechanisms is crucial in order to realize the non-collision safety-ensured movement. A method based on Fuzzy Discrete Event System is proposed in this paper. A new approach with four basic behaviors: route following, target going, obstacle avoiding and deadlock disarming, for mobile robot navigation are discussed. Player/Stage simulation results show that the proposed approach is effective in navigating mobile robots in dynamic unknown circumstances.
KW - Fuzzy control
KW - Player/Stage
KW - behavior modulation
UR - https://www.scopus.com/pages/publications/84912137878
U2 - 10.1109/ICIEA.2014.6931275
DO - 10.1109/ICIEA.2014.6931275
M3 - 会议稿件
AN - SCOPUS:84912137878
T3 - Proceedings of the 2014 9th IEEE Conference on Industrial Electronics and Applications, ICIEA 2014
SP - 819
EP - 824
BT - Proceedings of the 2014 9th IEEE Conference on Industrial Electronics and Applications, ICIEA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE Conference on Industrial Electronics and Applications, ICIEA 2014
Y2 - 9 June 2014 through 11 June 2014
ER -