A Fuzzy Behavior-Based Control for Mobile Robots Using Adaptive Fusion Units

Authors:
Keigo Watanabe;Kiyotaka Izumi;Junnosuke Maki;Katsuharu Fujimoto
Affiliations:
Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502;Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502;Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502;Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502
Venue:
Journal of Intelligent and Robotic Systems
Year:
2005

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Abstract

It is known that a behavior-based control approach is effective for acquiring an intelligent control system of robots. However, further improvements are required for making any behavior-based control system robust against changes in the environments. A module learning method has been applied in the framework of fuzzy behavior-based control to have an adaptive behavioral fusion. In this paper, an adaptive fusion strategy is proposed to adaptively select a cooperative fusion unit or competitive fusion unit, depending on the external sensor information. Some simulations are given to illustrate that the present control systems are flexible against the change of environments or untrained environments, compared to those with a conventional priority-based fusion unit.