Name
Abstract | ||
|---|---|---|
This paper describes how fuzzy control can be ap- plied to a sonar-based mobile robot. Behavior-based fuzzy control for HelpMate behaviors was designed us- ing sonar sensors. The fuzzy controller provides a mechanism for combining sensor data from all sonar sensors which present di®erent information. The behavior-based approach is implemented as an individ- ual high priority behavior. The highest level behavior is called the task-oriented behavior, which consists of two subtasks, wall following and goal seeking. The middle level behavior is obstacle avoidance. The lowest level is an emergency behavior. Each behavior was built as an atomic agent based on the intelligent machine archi- tecture (IMA). The results demonstrate that each be- havior works correctly. The HelpMate robot can follow the wall, go to the goal, and avoid obstacles detected by the sonar sensors. |
Year | DOI | Venue |
|---|---|---|
2000 | 10.1109/ICSMC.2000.886556 | Systems, Man, and Cybernetics, 2000 IEEE International Conference |
Keywords | Field | DocType |
fuzzy control,intelligent control,mobile robots,software agents,HelpMate behaviors,atomic agent,fuzzy control,goal seeking,intelligent machine architecture,mobile robot,obstacle avoidance,sonar-based,task-oriented behavior,wall following | Intelligent control,Obstacle avoidance,Robot control,Goal seeking,Simulation,Computer science,Control theory,Fuzzy logic,Real-time computing,Sonar,Fuzzy control system,Mobile robot | Conference |
Volume | ISSN | ISBN |
5 | 1062-922X | 0-7803-6583-6 |
Citations | PageRank | References |
18 | 1.41 | 7 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Siripun Thongchai | 1 | 62 | 8.06 |
| Suksakulchai, S. | 2 | 18 | 1.41 |
| D. Mitchell Wilkes | 3 | 277 | 35.91 |
| Sarkar, N. | 4 | 18 | 1.41 |