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Fuzzy Combiner of Behaviors for Reactive Control of Wheeled Mobile Robot

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Book cover Artificial Intelligence and Soft Computing - ICAISC 2004 (ICAISC 2004)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 3070))

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Abstract

This paper proposes a sensor based navigation method with fuzzy combiner for navigation of mobile robot in uncertain environments. The proposed navigator consists of two main behaviors: a reaching the middle of a collision-free space behavior, and goal-seeking behavior. The fuzzy combiner can fuse low-level behaviors so that the mobile robot can go for the goal position without colliding with obstacles. The fuzzy combiner is a soft switch that chooses more then one low-level action to be active with different degrees through fuzzy combination at each time step. The output of the navigation level is fed into a fuzzy tracking controller that takes into account the dynamics of the mobile robot. Computer simulation have been conducted to illustrate the performance of the proposed fuzzy combiner of behaviors by a series of experiments on the emulator of wheeled mobile robot Pioneer-2DX.

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Author information

Authors and Affiliations

  1. Department of Applied Mechanics and Robotics, Rzeszow University of Technology, Powstancow Warszwy 8, 35-959, Rzeszow, Poland

    Zenon Hendzel

Authors
  1. Zenon Hendzel
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Editor information

Editors and Affiliations

  1. Department of Artificial Intelligence, Academy of Humanities and Economics, Poland

    Leszek Rutkowski

  2. German Research Center of Artificial Intelligence (DFKI), Germany

    Jörg H. Siekmann

  3. Institute of Automatics, AGH University of Science and Technology, Al. Mickiewicza 30, PL-30-059, Kraków, Poland

    Ryszard Tadeusiewicz

  4. Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Initiative in Soft Computing (BISC), 94720-1776, Berkeley, CA

    Lotfi A. Zadeh

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© 2004 Springer-Verlag Berlin Heidelberg

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Hendzel, Z. (2004). Fuzzy Combiner of Behaviors for Reactive Control of Wheeled Mobile Robot. In: Rutkowski, L., Siekmann, J.H., Tadeusiewicz, R., Zadeh, L.A. (eds) Artificial Intelligence and Soft Computing - ICAISC 2004. ICAISC 2004. Lecture Notes in Computer Science(), vol 3070. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-24844-6_119

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  • DOI: https://doi.org/10.1007/978-3-540-24844-6_119

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-22123-4

  • Online ISBN: 978-3-540-24844-6

  • eBook Packages: Springer Book Archive

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