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Title: Automatic generation of fuzzy rules for the sensor-based navigation of a mobile robot

Abstract

A system for automatic generation of fuzzy rules is proposed which is based on a new approach, called {open_quotes}Fuzzy Behaviorist,{close_quotes} and on its associated formalism for rule base development in behavior-based robot control systems. The automated generator of fuzzy rules automatically constructs the set of rules and the associated membership functions that implement reasoning schemes that have been expressed in qualitative terms. The system also checks for completeness of the rule base and independence and/or redundancy of the rules to ensure that the requirements of the formalism are satisfied. Examples of the automatic generation of fuzzy rules for cases involving suppression and/or inhibition of fuzzy behaviors are given and discussed. Experimental results obtained with the automated fuzzy rule generator applied to the domain of sensor-based navigation in a priori unknown environments using one of our autonomous test-bed robots are then presented and discussed to illustrate the feasibility of large-scale automatic fuzzy rule generation using our proposed {open_quotes}Fuzzy Behaviorist{close_quotes} approach.

Authors:
;
Publication Date:
Research Org.:
Oak Ridge National Lab., TN (United States)
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
10190401
Report Number(s):
CONF-940859-27
ON: DE95001428; TRN: 94:009645
DOE Contract Number:  
AC05-84OR21400
Resource Type:
Conference
Resource Relation:
Conference: 5. international symposium on robotics and manufacturing,Maui, HI (United States),14-18 Aug 1994; Other Information: PBD: [1994]
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; 99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; NAVIGATION; FUZZY LOGIC; ROBOTS; COMPUTERIZED CONTROL SYSTEMS; ARTIFICIAL INTELLIGENCE; 320303; 990200; EQUIPMENT AND PROCESSES; MATHEMATICS AND COMPUTERS

Citation Formats

Pin, F G, and Watanabe, Y. Automatic generation of fuzzy rules for the sensor-based navigation of a mobile robot. United States: N. p., 1994. Web.
Pin, F G, & Watanabe, Y. Automatic generation of fuzzy rules for the sensor-based navigation of a mobile robot. United States.
Pin, F G, and Watanabe, Y. Sat . "Automatic generation of fuzzy rules for the sensor-based navigation of a mobile robot". United States. https://www.osti.gov/servlets/purl/10190401.
@article{osti_10190401,
title = {Automatic generation of fuzzy rules for the sensor-based navigation of a mobile robot},
author = {Pin, F G and Watanabe, Y},
abstractNote = {A system for automatic generation of fuzzy rules is proposed which is based on a new approach, called {open_quotes}Fuzzy Behaviorist,{close_quotes} and on its associated formalism for rule base development in behavior-based robot control systems. The automated generator of fuzzy rules automatically constructs the set of rules and the associated membership functions that implement reasoning schemes that have been expressed in qualitative terms. The system also checks for completeness of the rule base and independence and/or redundancy of the rules to ensure that the requirements of the formalism are satisfied. Examples of the automatic generation of fuzzy rules for cases involving suppression and/or inhibition of fuzzy behaviors are given and discussed. Experimental results obtained with the automated fuzzy rule generator applied to the domain of sensor-based navigation in a priori unknown environments using one of our autonomous test-bed robots are then presented and discussed to illustrate the feasibility of large-scale automatic fuzzy rule generation using our proposed {open_quotes}Fuzzy Behaviorist{close_quotes} approach.},
doi = {},
url = {https://www.osti.gov/biblio/10190401}, journal = {},
number = ,
volume = ,
place = {United States},
year = {1994},
month = {10}
}

Conference:
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