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
Fuzzy control of a mobile robot / Cupertino, Francesco; Giordano, V; Naso, David; Delfine, L.. - In: IEEE ROBOTICS AND AUTOMATION MAGAZINE. - ISSN 1070-9932. - 13:4(2006), pp. 74-81. [10.1109/MRA.2006.250563]
Fuzzy control of a mobile robot
CUPERTINO, Francesco;NASO, David;
2006
Abstract
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 environmentsI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
