TY - GEN
T1 - Fuzzy logic rules for mapping sensor data to robot control
AU - Zhang, Jianwei
AU - Wille, Frank
AU - Knoll, Alois
N1 - Publisher Copyright:
© 1996 IEEE.
PY - 1996
Y1 - 1996
N2 - We use fuzzy logic rules to directly map sensor data to robot control outputs by classifying a set of typical subtasks, such as path tracking, local collision avoidance, contour tracking, situation evaluation, etc. With the help of existing heuristics, the decision-making process for each subtask can be modelled and represented with IF-THEN rules. The underlying concepts of mapping with fuzzy logic rules are briefly explained by considering the proximity sensors, the control of speed and steering angle of a mobile robot. The development of these fuzzy rules is explained, typical rules for dealing with various motion situations are listed. The modularly developed fuzzy rule bases can be integrated to realise task-level programming and the exploration task. Experiments with the mobile robot validate this concept.
AB - We use fuzzy logic rules to directly map sensor data to robot control outputs by classifying a set of typical subtasks, such as path tracking, local collision avoidance, contour tracking, situation evaluation, etc. With the help of existing heuristics, the decision-making process for each subtask can be modelled and represented with IF-THEN rules. The underlying concepts of mapping with fuzzy logic rules are briefly explained by considering the proximity sensors, the control of speed and steering angle of a mobile robot. The development of these fuzzy rules is explained, typical rules for dealing with various motion situations are listed. The modularly developed fuzzy rule bases can be integrated to realise task-level programming and the exploration task. Experiments with the mobile robot validate this concept.
UR - http://www.scopus.com/inward/record.url?scp=84921663251&partnerID=8YFLogxK
U2 - 10.1109/EURBOT.1996.551878
DO - 10.1109/EURBOT.1996.551878
M3 - Conference contribution
AN - SCOPUS:84921663251
T3 - Proceedings of the 1st Euromicro Workshop on Advanced Mobile Robots, EUROBOT 1996
SP - 29
EP - 38
BT - Proceedings of the 1st Euromicro Workshop on Advanced Mobile Robots, EUROBOT 1996
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st Euromicro Workshop on Advanced Mobile Robots, EUROBOT 1996
Y2 - 9 October 1996 through 11 October 1996
ER -