Mobile robot navigation using qualitative reasoning
Conference
·
OSTI ID:10132790
Vehicle control in a priori unknown, unpredictable, and dynamic environments requires many calculational and reasoning schemes to operate on the basis of very imprecise. incomplete, or unreliable data. Forsuch systems, in which all the uncertainties can not be engineered away, approximate reasoning may provide an alternative to the complexity and computational requirements of conventional uncertainty analysis and propagation techniques. Two types of computer boards including custom-designed VLSI chips have been developed to add a fuzzy inferencing capability to real-time control systems. The use of these boards and anapproach using superposition of elemental sensor-based behaviors for the development of qualitative reasoning schemes emulating human-like navigation are first discussed. We then describe how the human-like navigation schemes were implemented on a test-bed platform to investigate two control modes for driving a car in a priori unknown environments on the basis of sparse and imprecise sensor data. In the first mode, the car navigates fully autonomously, while in the second mode, the system acts as a driver`s aid providing the driver with linguistic (fuzzy) commands to turn left or right and speed up or slow down depending on the obstacles perceived by the sensors. Experiments with both nodes of control are described in which the system uses only three acoustic range (sonar) sensor channels to perceive the environment. Simulationresults as well as indoors and outdoors experiments are presented and discussed to illustrate the feasibility and robustness of autonomous navigation and/or safety enhancing driver`s aid using the new fuzzy inferencing hardware system and methodologies.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 10132790
- Report Number(s):
- CONF-930403--26; ON: DE93008277
- Country of Publication:
- United States
- Language:
- English
Similar Records
Mobile robot navigation using qualitative reasoning
Sensor-based driving of a car with fuzzy inferencing VLSI chips and boards
Sensor-based driving of a car with fuzzy inferencing VLSI chips and boards. [Very Large Scale Integration (VLSI)]
Conference
·
Thu Dec 31 23:00:00 EST 1992
·
OSTI ID:7068043
Sensor-based driving of a car with fuzzy inferencing VLSI chips and boards
Conference
·
Tue Sep 01 00:00:00 EDT 1992
·
OSTI ID:10173102
Sensor-based driving of a car with fuzzy inferencing VLSI chips and boards. [Very Large Scale Integration (VLSI)]
Conference
·
Tue Dec 31 23:00:00 EST 1991
·
OSTI ID:7016934