REACTIVE CONTROL SCHEME BASED ON FUZZY BEHAVIORS FOR MOBILE ROBOT

Autor:	Orlando Zapata-Cortés, Gustavo Alonso Acosta-Amaya, Jovani Alberto Jiménez-Builes
Jazyk:	English<br />Spanish; Castilian<br />Portuguese
Rok vydání:	2020
Předmět:	fuzzy control design behavior-based control architecture mobile robotic frontal obstacle avoidance wall following behavior artificial intelligence Technology Science
Zdroj:	Revista Politécnica, Vol 16, Iss 31, Pp 9-18 (2020)
Druh dokumentu:	article
ISSN:	1900-2351 2256-5353
DOI:	10.33571/rpolitec.v16n31a1
Popis:	This paper presents the design and implementation of a behavior-based control scheme. The construction of the set of behaviors is based on the use of fuzzy logic as a means for materializing the designer’s knowledge into the behaviors. The behavior set was established by left and right wall following and obstacle avoidance. These three behaviors were programmed and coordinated by a subsumption architecture or behavioral inhibition. Behavior simulations and coordination scheme design were tested by means of real experiments using a mobile robotic platform. Finally, the results are presented, where the control actions are executed by the robotic system achieving a secure navigation.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/7b72f33e970f4c01a2cd11880e19ac61 Zobrazit plný text záznamu View record in DOAJ Plný text ve formátu PDF