Using custom-designed VLSI fuzzy inferencing chips for the autonomous navigation of a mobile robot
- Oak Ridge National Lab., TN (United States)
- North Carolina Univ., Chapel Hill, NC (United States). Dept. of Computer Science
Two types of computer boards including custom-designed VLSI fuzzy inferencing chips have been developed to add a qualitative reasoning capability to the real-time control of autonomous mobile robots. The design and operation of these boards are first described and an example of their use for the autonomous navigation of mobile robot is presented. The development of qualitative reasoning schemes emulating human-like navigation in apriori unknown environments is discussed. An approach using superposition of elemental sensor-based behaviors is shown to alloy easy development and testing of the inferencing rule base, while providing for progressive addition of behaviors to resolve situations of increasing complexity. The efficiency of such schemes, which can consist of as little as a dozen qualitative rules, is illustrated in experiments involving an autonomous mobile robot navigating on the basis of very sparse and inaccurate sensor data. 17 refs., 6 figs.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- USDOE; USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 5572716
- Report Number(s):
- CONF-920724-1; ON: DE92000424
- Resource Relation:
- Conference: 1992 Institute of Electrical and Electronic Engineers (IEEE) international conference on intelligent robots and systems, Raleigh, NC (United States), 7-10 Jul 1992
- Country of Publication:
- United States
- Language:
- English
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99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
ROBOTS
CONTROL
NAVIGATION
AUTOMATION
COMPUTERIZED CONTROL SYSTEMS
MICROELECTRONICS
MOTION
PLANNING
CONTROL SYSTEMS
ON-LINE CONTROL SYSTEMS
ON-LINE SYSTEMS
420200* - Engineering- Facilities
Equipment
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990200 - Mathematics & Computers