Adaptive navigation control for a quadruped robot based on ART and fuzzy logic

Xuedong Chen, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

研究成果: Contribution to conferencePaper

1 引用 (Scopus)

抜粋

An adaptive navigation control problem is presented for a quadruped robot in cluttered environments, by incorporating the capability of adaptive resonance theory (ART) in stable category recognition into fuzzy logic control. An ART-based neural network is introduced as an environment identifier for the purpose of adaptive selection of the adequate rule base for a fuzzy controller. Therefore, the proposed adaptive control scheme for the navigation of the robot is implemented by the adaptive fuzzy rule base in response to changes of the robot's environment, which can be fine observed by the proposed environment identifier. Some simulation results are presented to illustrate the proposed algorithm.

元の言語英語
ページ626-631
ページ数6
出版物ステータス出版済み - 12 1 2000
外部発表Yes
イベント26th Annual Conference of the IEEE Electronics Society IECON 2000 - Nagoya, 日本
継続期間: 10 22 200010 28 2000

その他

その他26th Annual Conference of the IEEE Electronics Society IECON 2000
日本
Nagoya
期間10/22/0010/28/00

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • これを引用

    Chen, X., Watanabe, K., Kiguchi, K., & Izumi, K. (2000). Adaptive navigation control for a quadruped robot based on ART and fuzzy logic. 626-631. 論文発表場所 26th Annual Conference of the IEEE Electronics Society IECON 2000, Nagoya, 日本.