基于模糊逻辑的步行机器人智能反应导航行为混合

ISSPA '99. Proceedings of the Fifth International Symposium on Signal Processing and its Applications (IEEE Cat. No.99EX359) Pub Date : 1999-08-22 DOI:10.1109/ISSPA.1999.818136

Adel Al-Jumaily, S. Amin

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引用次数: 5

摘要

自主移动机器人对动态、不确定和多变环境的反应是智能自主机器人运动控制的难点之一。模糊控制是处理智能响应式导航的一个非常有用的工具。本文研究了基于模糊行为的反应性避障导航系统的构建，并提出了一种多行为同时融合协调的方法。该方法采用模糊技术和固定的优先级值来反映行为的重要性。我们已经建立了我们的仿真和动画程序，可以反映在线机器人的运动使用图形用户界面。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Fuzzy logic based behaviors blending for intelligent reactive navigation of walking robot

The reaction of an autonomous mobile robot to dynamic, uncertain, and changeable environments is one of most difficult issues in control of intelligent autonomous robot movement. Fuzzy control appears as a very useful tool for handling intelligent reactive navigation. The present work deals with building of fuzzy behavior based reactive navigation for obstacle avoidance, and proposes a method to blend and coordinate multi-behaviors at the same time. This method using a fuzzy technique and fixed priority value to reflect the importance of the behavior. We have built our simulation and animation programs that can reflect online the robot movement using a graphical user interface.

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ISSPA '99. Proceedings of the Fifth International Symposium on Signal Processing and its Applications (IEEE Cat. No.99EX359)

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