Abstract
David Payton and Ken Rosenblatt have proposed a command fusion method for combining outputs of multiple behaviors in a mobile robot navigation system such that information loss due to command fusion can be reduced. Using linguistic fuzzy rules to explicitly capture heuristics implicit in the Payton-Rosenblatt approach, we have extended their approach to a fuzzy logic architecture for mobile robot navigation in dynamic environments, which is simpler and easier to understand and modify. We have also developed and empirically tested a new defuzzification technique for alleviating difficulties in applying existing defuzzification methods to mobile robot navigation control.
Original language | English (US) |
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Pages (from-to) | 971-978 |
Number of pages | 8 |
Journal | IEEE Transactions on Systems, Man, and Cybernetics |
Volume | 25 |
Issue number | 6 |
DOIs | |
State | Published - Jun 1995 |
All Science Journal Classification (ASJC) codes
- General Engineering