Autonomous navigation system using Event Driven-Fuzzy Cognitive Maps

Authors:
Márcio Mendonça;Lúcia Valéria Arruda;Flávio Neves, Jr.
Affiliations:
Graduate School in Electrical Engineering and Applied Computer Sciences, Federal University of Technology--Paraná, Curitiba, Brazil;Graduate School in Electrical Engineering and Applied Computer Sciences, Federal University of Technology--Paraná, Curitiba, Brazil;Graduate School in Electrical Engineering and Applied Computer Sciences, Federal University of Technology--Paraná, Curitiba, Brazil
Venue:
Applied Intelligence
Year:
2012

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Abstract

This study developed an autonomous navigation system using Fuzzy Cognitive Maps (FCM). Fuzzy Cognitive Map is a tool that can model qualitative knowledge in a structured way through concepts and causal relationships. Its mathematical representation is based on graph theory. A new variant of FCM, named Event Driven-Fuzzy Cognitive Maps (ED-FCM), is proposed to model decision tasks and/or make inferences in autonomous navigation. The FCM's arcs are updated from the occurrence of special events as dynamic obstacle detection. As a result, the developed model is able to represent the robot's dynamic behavior in presence of environment changes. This model skill is achieved by adapting the FCM relationships among concepts. A reinforcement learning algorithm is also used to finely adjust the robot behavior. Some simulation results are discussed highlighting the ability of the autonomous robot to navigate among obstacles (navigation at unknown environment). A fuzzy based navigation system is used as a reference to evaluate the proposed autonomous navigation system performance.