Abstract
The principal aim of this study is to show how an autonomous mobile robot can acquire the optimal action to avoid moving multiobstacles through the interaction with the real world. In this paper, we propose a new architecture using the hierarchical fuzzy rules, fuzzy performance evaluation system and learning automata. By using our proposed method, the robot acquires the fine behavior to move to the goal, avoiding moving obstacles, simultaneously by using the steering and velocity control inputs. Also we show the experimental results to confirm the feasibility of our method.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Y.Maeda et.al,“Collision Avoidance Control among Moving Obstacles for a Mobile Robot on the Fuzzy Reasoning,” J.of the Robotics Society of Japan, Vol6, No.6, pp. 518–522, 1988.
H.Koyama et.al,“Study of Obstacle Avoidance Problem for Mobile Robot Using Fuzzy Production System,” J.of the Robotics Society of Japan, Vol9, No.1, pp. 75–78, 1991.
T.Takeuchi,“An Autonomous Fuzzy Mobile Robot,” J.of the Robotics Society of Japan, Vol6, No.6, pp. 549–556, 1988.
S.Ishikawa,“A Method of Autonomous Mobile Robot Navigation by Using Fuzzy Control,” J.of the Robotics Society of Japan, Vol9, No.2, pp. 149–161, 1991
T.Aoki et.al,“Motion planning for Multiple Obstacles Avoidance of Autonomous Mobile Robot Using Hierarchical Fuzzy Rules,” 1994 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp.265–271.
K.Narendra et.al.”LEARNING AUTOMATA”, Prentice-Hall. Inc.,1989
M.F.Norman.,”Markov Processes and Learning Models”, Academic-Press., 1972
H.NAGATA et.al.,”Intelligence Control Concerning Obstacle Avoidance of Mobile Robot”, J. of the Robotics Society of Japan, Vol. 11, No. 8, pp. 1203–1211, 1993
M.ITO et.al.,”Collision Avoidance among Autonomous Vehicles Containing Fixed Obstacles”, Proc. of the 35th Annual Conference of the Institute of Systems, Control and Information Engineers, May 22–24, pp.63–64, 1991
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1996 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Aoki, T., Oka, T., Hayakawa, S., Suzuki, T., Okuma, S. (1996). Experimental study on acquisition of optimal action for autonomous mobile robot to avoid moving multiobstacles. In: Furuhashi, T., Uchikawa, Y. (eds) Fuzzy Logic, Neural Networks, and Evolutionary Computation. WWW 1995. Lecture Notes in Computer Science, vol 1152. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-61988-7_18
Download citation
DOI: https://doi.org/10.1007/3-540-61988-7_18
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-61988-8
Online ISBN: 978-3-540-49581-9
eBook Packages: Springer Book Archive