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.
|ジャーナル||Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|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