This paper describes the design of a new fuzzy logic-based navigation algorithm for autonomous robots. This design effectively achieves correct environment modeling and noisy and uncertain sensory data processing on low-cost hardware equipment. A hierarchical control strategy is presented in which three different reactive behaviors are fused in a single control law by means of a fuzzy supervisor guaranteeing robot safety and task accomplishment. Due to the inherent transparency of fuzzy logic, the proposed algorithm is computationally light, easily reconfigurable, and well-performing in a wide range of differing operating conditions and environments
Autori: | |
Titolo: | Fuzzy control of a mobile robot |
Rivista: | |
Data di pubblicazione: | 2006 |
Digital Object Identifier (DOI): | 10.1109/MRA.2006.250563 |
Handle: | http://hdl.handle.net/11589/10123 |
Appare nelle tipologie: | 1.1 Articolo in rivista |
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