自主导航的自适应模糊行为层次

E. Tunstel, H. Danny, Tanya Lippincott, M. Jamshidi
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引用次数: 14

摘要

自适应行为能力是在非工程环境中实现鲁棒导航所必需的。描述了一种利用模糊逻辑近似推理能力的自适应行为控制方法。特别提出了一种基于行为的移动机器人层次模糊控制体系结构。描述了它的结构以及控制决策的机制,从而产生适应性行为。控制决策来自于仅由适用于当前情况的行为提供的一致建议。室内导航实例验证了该方法的实用性,揭示了多行为交互的特点。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Adaptive fuzzy-behavior hierarchy for autonomous navigation
Adaptive behavioral capabilities are necessary for robust navigation in non-engineered environments. A control approach to adaptive behavior is described which exploits the approximate reasoning facility of fuzzy logic. In particular, a behavior-based architecture for hierarchical fuzzy control of mobile robots is presented. Its structure is described as well as mechanisms of control decision-making which give rise to adaptive behavior. Control decisions result from a consensus of recommendations offered only by behaviors that are applicable to current situations. Indoor navigation examples demonstrate the practicality of the approach and reveals characteristics of multiple behavior interaction.
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