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Title: Sensor-based navigation of a mobile robot using automatically constructed fuzzy rules

Abstract

A system for automatic generation of fuzzy rules is proposed which is based on a new approach, called ``Fuzzy Behaviorist,`` 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 ``Fuzzy Behaviorist`` approach.

Authors:
;
Publication Date:
Research Org.:
Oak Ridge National Lab., TN (United States)
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
10192726
Report Number(s):
CONF-9311107-2
ON: DE94001137
DOE Contract Number:  
AC05-84OR21400
Resource Type:
Conference
Resource Relation:
Conference: ICAR `93: 6. international conference on advanced robotics,Tokyo (Japan),1-2 Nov 1993; Other Information: PBD: [1993]
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; ROBOTS; NAVIGATION; FUZZY LOGIC; AUTOMATION; MATHEMATICAL MODELS; INFORMATION THEORY; TRAJECTORIES; 420203; 990200; HANDLING EQUIPMENT AND PROCEDURES; MATHEMATICS AND COMPUTERS

Citation Formats

Watanabe, Y, and Pin, F G. Sensor-based navigation of a mobile robot using automatically constructed fuzzy rules. United States: N. p., 1993. Web.
Watanabe, Y, & Pin, F G. Sensor-based navigation of a mobile robot using automatically constructed fuzzy rules. United States.
Watanabe, Y, and Pin, F G. Fri . "Sensor-based navigation of a mobile robot using automatically constructed fuzzy rules". United States. https://www.osti.gov/servlets/purl/10192726.
@article{osti_10192726,
title = {Sensor-based navigation of a mobile robot using automatically constructed fuzzy rules},
author = {Watanabe, Y and Pin, F G},
abstractNote = {A system for automatic generation of fuzzy rules is proposed which is based on a new approach, called ``Fuzzy Behaviorist,`` 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 ``Fuzzy Behaviorist`` approach.},
doi = {},
url = {https://www.osti.gov/biblio/10192726}, journal = {},
number = ,
volume = ,
place = {United States},
year = {1993},
month = {10}
}

Conference:
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