Obstacle avoidance of mobile robot using fuzzy behaviour-based control with module learning
説明
Intelligent control is being widely studied in the field of robotics. A construction method of an intelligent control system is the fuzzy behavior-based control which decomposes a task into each elemental behavior like a subsumption architecture, and each elemental behavior is realized by fuzzy reasoning. In the paper, a module learning method is proposed for such a system, because the robot will be able to get more general knowledge or fuzzy reasoning than a central learning method. In particular, the module learning method is applied to an obstacle avoidance problem of a mobile robot. The effectiveness of the present method is illustrated through some simulations.
収録刊行物
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- Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)
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Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289) 1 454-459, 2003-01-20
IEEE