Fuzzy behavior-based control (3rd report, module learning and behavioral coordination by an adaptive fusion unit with external sensor information)

Keigo Watanabe, Kiyotaka Izumi, Junnosuke Maki, Kazuo Kiguchi

研究成果: Contribution to journalArticle

抜粋

In order to obtain more effective coordinated behaviors against changes in environments or unlearned environments, we here propose a new fusion unit using external sensor information for a fuzzy behavior-based control system trained in the framework of module learning. The present fusion unit falls into a class of adaptive priority-based architecture in which the fusion between behavioral elements is carried out by a cooperative or competition strategy, depending on whether an objective point or obstacle can be detected or not. Some experimental results of a miniature mobile robot Khepera show that the proposed method is superior to the conventional method that applies a fusion unit based on a fixed priority-based architecture.

元の言語英語
ページ(範囲)76-83
ページ数8
ジャーナルNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
69
発行部数1
DOI
出版物ステータス出版済み - 1 2003

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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